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Variant Scheme of Adaptive Tracking Control for Robot Manipulators
HUANG Chunqing * #
Department of Automation, Xiamen University
*Correspondence author
#Submitted by
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Funding: Supported by the National Natural Science Foundation of China （No.No. 60704043）, Fundamental Research Funds for the Central Universities（No.No. 2010121064）, Research Fund for the Doctoral Program of Higher Education（No.No. 20070384031）
Opened online: 4 November 2011
Accepted by: none
Citation: HUANG Chunqing.Variant Scheme of Adaptive Tracking Control for Robot Manipulators[OL]. [ 4 November 2011] http://en.paper.edu.cn/en_releasepaper/content/4447321
 
 
This paper develops a variant scheme of adaptive algorithm for tacking control of robot manipulators, which includes the traditional adaptive algorithm as a special case. Asymptotic stability of the resulting closed-loop system is guaranteed. Simulation results show the improved transient performance in respect to the counterpart of the traditional adaptive.
Keywords:adaptive tracking control; robot manipulator; asymptotic stability
 
 
 

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