MANIPULATION
Adaptive controller designs for robot manipulator systems using Lyapunov direct method
Kye Lim, Mansour Eslami
- Year
- 1985
- Citations
- 54
Abstract
Two different controllers for robot manipulator systems based on the general adaptive control theory using Lyapunov direct method are designed. A way of improving the transient response and convergence speed of a multivariable system in conjunction with this controller is established.
Keywords
Control theory (sociology)Lyapunov functionControl engineeringAdaptive controlController (irrigation)Multivariable calculusConvergence (economics)Computer scienceRobot manipulatorRobot
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