Adaptive control of robot manipulators: an input-output approach

摘要

The stability of adaptive controllers for robot manipulators using an input-output approach is studied. A recently proposed adaptive controller is analyzed in this functional analytic framework. Global stability results are presented. The input-output approach provides a framework for control and adaptation laws design.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>