Modelling of a logarithmic parameter adaptation law for adaptive control of mechanical manipulators
Published online by Cambridge University Press: 23 January 2006
Abstract
In the paper, a new adaptive control law for controlling robot manipulators is derived based on the Lyapunov theory; trigonometric functions are used for the derivation of the parameter estimation law. In this note, we have derived a logarithmic parameter estimation law based on a previous paper, and the boundedness of tracking error has been shown.
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- 2006 Cambridge University Press
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