Adaptive path tracking control of robotic manipulators with unknown payload dynamics

Y. D. SONG; J. N. ANDERSON

doi:10.23919/acc.1991.4791575

Adaptive path tracking control of robotic manipulators with unknown payload dynamics

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

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

1 Citation (Scopus)

Abstract

The path tracking control problem of a robot carrying an unknown payload is considered. 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, a new approach for stability analysis is established which proves the asymptotically stable control of the proposed strategy.

Original language	English
Title of host publication	Proceedings of the 1991 American Control Conference
Publisher	IEEE
Pages	1227-1232
Number of pages	6
ISBN (Print)	0879425652, 9780879425654
DOIs	https://doi.org/10.23919/acc.1991.4791575
Publication status	Published - 1991
Externally published	Yes
Event	1991 American Control Conference - The Boston Park Plaza Hotel, Boston, United States Duration: 26 Jun 1991 → 28 Jun 1991

Publication series

Name	Proceedings of the American Control Conference
Volume	2
ISSN (Print)	0743-1619

Conference

Conference	1991 American Control Conference
Country/Territory	United States
City	Boston
Period	26/06/91 → 28/06/91

Keywords

robotics
adaptive path tracking
unknown payload dynamics
generalized inner product

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10.23919/acc.1991.4791575

Cite this

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

abstract = "The path tracking control problem of a robot carrying an unknown payload is considered. 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, a new approach for stability analysis is established which proves the asymptotically stable control of the proposed strategy.",

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

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

year = "1991",

doi = "10.23919/acc.1991.4791575",

language = "English",

isbn = "0879425652",

series = "Proceedings of the American Control Conference",

publisher = "IEEE",

pages = "1227--1232",

booktitle = "Proceedings of the 1991 American Control Conference",

note = "1991 American Control Conference ; Conference date: 26-06-1991 Through 28-06-1991",

}

SONG, YD & ANDERSON, JN 1991, Adaptive path tracking control of robotic manipulators with unknown payload dynamics. in Proceedings of the 1991 American Control Conference. Proceedings of the American Control Conference, vol. 2, IEEE, pp. 1227-1232, 1991 American Control Conference, Boston, Massachusetts, United States, 26/06/91. https://doi.org/10.23919/acc.1991.4791575

Adaptive path tracking control of robotic manipulators with unknown payload dynamics. / SONG, Y. D.; ANDERSON, J. N.
Proceedings of the 1991 American Control Conference. IEEE, 1991. p. 1227-1232 (Proceedings of the American Control Conference; Vol. 2).

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

TY - GEN

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AU - ANDERSON, J. N.

PY - 1991

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N2 - The path tracking control problem of a robot carrying an unknown payload is considered. 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, a new approach for stability analysis is established which proves the asymptotically stable control of the proposed strategy.

AB - The path tracking control problem of a robot carrying an unknown payload is considered. 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, a new approach for stability analysis is established which proves the asymptotically stable control of the proposed strategy.

KW - robotics

KW - adaptive path tracking

KW - unknown payload dynamics

KW - generalized inner product

UR - https://www.scopus.com/pages/publications/0026368571

U2 - 10.23919/acc.1991.4791575

DO - 10.23919/acc.1991.4791575

M3 - Conference paper (refereed)

AN - SCOPUS:0026368571

SN - 0879425652

SN - 9780879425654

T3 - Proceedings of the American Control Conference

SP - 1227

EP - 1232

BT - Proceedings of the 1991 American Control Conference

PB - IEEE

T2 - 1991 American Control Conference

Y2 - 26 June 1991 through 28 June 1991

ER -

Adaptive path tracking control of robotic manipulators with unknown payload dynamics

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Keywords

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