Hyperstability approach to the synthesis of adaptive controllers for robot manipulators

摘要

A general approach to the synthesis of model reference adaptive controllers for manipulators by means of hyperstability theory is presented. The manipulator adaptive control problem is first formulated in a form suitable for the application of hyperstability theory. The control scheme consists of feedback and cascade controllers, and an auxiliary signal. A generalized adaptation algorithm is developed which offers considerable flexibility in the choice of controller structure and its adjustable parameters.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>