Adaptive path tracking control of robotic manipulators with unknown payload dynamics

Y. D. SONG; J. N. ANDERSON

doi:10.1016/0167-6911(91)90099-Z

Adaptive path tracking control of robotic manipulators with unknown payload dynamics

Y. D. SONG^*
, J. N. ANDERSON

^*Corresponding author for this work

Research output: Journal Publications › Journal Article (refereed) › peer-review

8 Citations (Scopus)

Abstract

In practical applications, robots are often required to handle payloads with unknown dynamics. This paper considers the path tracking control problem of a robot carrying an unknown payload. An adaptive control scheme is presented in which the uncertain dynamics of the payload is taken into account, and prior information about the payload's mass or inertia is not required. By introducing a generalized inner product, an alternative approach for stability analysis (rather than the more usual Lyapunov method) is established which proves the asymptotically stable control of the proposed strategy. © 1991.

Original language	English
Pages (from-to)	59-70
Number of pages	12
Journal	Systems and Control Letters
Volume	17
Issue number	1
DOIs	https://doi.org/10.1016/0167-6911(91)90099-Z
Publication status	Published - Jul 1991
Externally published	Yes

Bibliographical note

Help from Dr. R.H. Middleton of the University of Newcastle is gratefully acknowledged.

Funding

This work was partly supported by a Research Scholarship from the University of Newcastle in Australia.

Keywords

adaptive path tracking
generalized inner product
Robotics
unknown payload dynamics

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10.1016/0167-6911(91)90099-Z

Cite this

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title = "Adaptive path tracking control of robotic manipulators with unknown payload dynamics",

abstract = "In practical applications, robots are often required to handle payloads with unknown dynamics. This paper considers the path tracking control problem of a robot carrying an unknown payload. An adaptive control scheme is presented in which the uncertain dynamics of the payload is taken into account, and prior information about the payload's mass or inertia is not required. By introducing a generalized inner product, an alternative approach for stability analysis (rather than the more usual Lyapunov method) is established which proves the asymptotically stable control of the proposed strategy. {\textcopyright} 1991.",

keywords = "adaptive path tracking, generalized inner product, Robotics, unknown payload dynamics",

author = "SONG, \{Y. D.\} and ANDERSON, \{J. N.\}",

note = "Help from Dr. R.H. Middleton of the University of Newcastle is gratefully acknowledged.",

year = "1991",

month = jul,

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T1 - Adaptive path tracking control of robotic manipulators with unknown payload dynamics

AU - SONG, Y. D.

AU - ANDERSON, J. N.

N1 - Help from Dr. R.H. Middleton of the University of Newcastle is gratefully acknowledged.

PY - 1991/7

Y1 - 1991/7

N2 - In practical applications, robots are often required to handle payloads with unknown dynamics. This paper considers the path tracking control problem of a robot carrying an unknown payload. An adaptive control scheme is presented in which the uncertain dynamics of the payload is taken into account, and prior information about the payload's mass or inertia is not required. By introducing a generalized inner product, an alternative approach for stability analysis (rather than the more usual Lyapunov method) is established which proves the asymptotically stable control of the proposed strategy. © 1991.

AB - In practical applications, robots are often required to handle payloads with unknown dynamics. This paper considers the path tracking control problem of a robot carrying an unknown payload. An adaptive control scheme is presented in which the uncertain dynamics of the payload is taken into account, and prior information about the payload's mass or inertia is not required. By introducing a generalized inner product, an alternative approach for stability analysis (rather than the more usual Lyapunov method) is established which proves the asymptotically stable control of the proposed strategy. © 1991.

KW - adaptive path tracking

KW - generalized inner product

KW - Robotics

KW - unknown payload dynamics

UR - https://www.scopus.com/pages/publications/0026188482

U2 - 10.1016/0167-6911(91)90099-Z

DO - 10.1016/0167-6911(91)90099-Z

M3 - Journal Article (refereed)

AN - SCOPUS:0026188482

SN - 0167-6911

VL - 17

SP - 59

EP - 70

JO - Systems and Control Letters

JF - Systems and Control Letters

IS - 1

ER -

Adaptive path tracking control of robotic manipulators with unknown payload dynamics

Abstract

Bibliographical note

Funding

Keywords

Access to Document

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