Hostname: page-component-745bb68f8f-b95js Total loading time: 0 Render date: 2025-02-11T07:04:23.907Z Has data issue: false hasContentIssue false
  • English
  • Français

Modelling of a logarithmic parameter adaptation law for adaptive control of mechanical manipulators

Published online by Cambridge University Press:  23 January 2006

Recep Burkan
Recep Burkan
Affiliation:
Erciyes University, Vocational College of Kayseri, 38039 Kayseri (Turkey) E-mail: burkanr@erciyes.edu.tr
Rights & Permissions [Opens in a new window]

Abstract

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the ‘Save PDF’ action button.

In the paper, a new adaptive control law for controlling robot manipulators is derived based on the Lyapunov theory; trigonometric functions are used for the derivation of the parameter estimation law. In this note, we have derived a logarithmic parameter estimation law based on a previous paper, and the boundedness of tracking error has been shown.

Type
Article
Information
Robotica , Volume 24 , Issue 4 , July 2006 , pp. 523 - 525
Copyright
2006 Cambridge University Press