頁籤選單縮合
題 名 | Adaptive Control of Electrically-Driven Robot without Computation of Regressor Matrix |
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作 者 | Chien, Ming-Chih; Huang, An-Chyau; | 書刊名 | 中國工程學刊 |
卷 期 | 30:5 2007.07[民96.07] |
頁 次 | 頁855-862 |
分類號 | 448.942 |
關鍵詞 | Electrically-driven robot; Adaptive control; FAT; |
語 文 | 英文(English) |
英文摘要 | By using the function approximation technique (FAT), the adaptive control of rigid-link electrically-driven(RLED) robots is addressed in the presence of time-varying uncertain parameters. Unlike the conventional adaptive control of robot manipulators, the regressor matrix does not need to be calculated in the proposed controller. Rigorous proof of the closed-loop stability and the convergence of the output tracking error are derived by using Lyapunov-like theory. Simulation studies are given to illustrate the tracking performance with the proposed control schemes. |
本系統中英文摘要資訊取自各篇刊載內容。