Abstract
In this paper, the trajectory tracking problem of robotic arms in discrete time is considered. To solve this problem, an adaptive least square controller is proposed. The uniform stability of the tracking error and parameters error for the aforementioned controller is guaranteed by means of a Lyapunov-like analysis. The effectiveness of the proposed controller is verified by on-line simulations.
| Original language | English |
|---|---|
| Pages (from-to) | 3665-3676 |
| Number of pages | 12 |
| Journal | Soft Computing |
| Volume | 19 |
| Issue number | 12 |
| DOIs | |
| State | Published - 1 Dec 2015 |
Keywords
- Adaptive least square
- Robotic arm
- State-feedback control
- Uniform stability