Article

Design of a robust adaptive control law for robotic manipulators

  1. Ho-Hoon Lee1,
  2. Fred E. C. Culick2,*

Article first published online: 13 MAR 2007

DOI: 10.1002/rob.4620110402

Issue

Journal of Robotic Systems

Journal of Robotic Systems

Volume 11, Issue 4, pages 241–255, 1994

Additional Information

How to Cite

Lee, H.-H. and Culick, F. E. C. (1994), Design of a robust adaptive control law for robotic manipulators. J. Robotic Syst., 11: 241–255. doi: 10.1002/rob.4620110402

Author Information

  1. 1

    Control Department Research Institute of Industrial Science and Technology Pohang 790–600 Korea

  2. 2

    Jet Propulsion Laboratory California Institute of Technology Pasadena, CA 91125

*Jet Propulsion Laboratory California Institute of Technology Pasadena, CA 91125

Publication History

  1. Issue published online: 13 MAR 2007
  2. Article first published online: 13 MAR 2007
  3. Manuscript Revised: 4 JUN 1993
  4. Manuscript Accepted: 4 MAR 1993
  5. Manuscript Received: 31 JAN 1992

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Abstract

In this article, a robust adaptive control scheme for robotic manipulators is designed based on the concept of performance index and Lyapunov's second method. Compensators are selected for a given feedback system by using a quadratic performance index. Then the stability of the system is proven based on Lyapunov's method, where a Lyapunov function and its time-derivative are derived from the selected compensators. In the process of stabilization, stability bounds are obtained for disturbances, control gains, adaptation gains, and desired trajectories, in the presence of feedback delay due to digital computation and first-order hold in the control loop. © 1994 John Wiley & Sons, Inc.

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