A Unified Approach to the Design of Adaptive and Repetitive Controllers for Robotic Manipulators

@inproceedings{Sadegh1990AUA,
  title={A Unified Approach to the Design of Adaptive and Repetitive Controllers for Robotic Manipulators},
  author={Nader Sadegh and Roberto Horowitz and Wei-Wen Kao and Masayoshi Tomizuka},
  year={1990}
}
A unified approach, based on Lyapunov theory, for synthesis and stability analysis of adaptive and repetitive controllers for mechanical manipulators is presented. This approach utilizes the passivity properties of the manipulator dynamics to derive control laws which guarantee asymptotic trajectory following, without requiring exact knowledge of the manipulator dynamic parameters. The manipulator overall controller consists of a fixed PD action and an adaptive and/or repetitive action for feed… CONTINUE READING

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