Adaptive least square control in discrete time of robotic arms

José de Jesús Rubio

doi:10.1007/s00500-014-1300-2

Adaptive least square control in discrete time of robotic arms

José de Jesús Rubio

Escuela Superior de Ingeniería Mecánica y Eléctrica (ESIME), Unidad Azcapotzalco

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

43 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas (desde-hasta)	3665-3676
Número de páginas	12
Publicación	Soft Computing
Volumen	19
N.º	12
DOI	https://doi.org/10.1007/s00500-014-1300-2
Estado	Publicada - 1 dic. 2015

Acceder al documento

10.1007/s00500-014-1300-2

Otros archivos y enlaces

Enlace a la publicación en Scopus

Citar esto

@article{99e180807c634d03a9f02ab3e3047459,

title = "Adaptive least square control in discrete time of robotic arms",

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.",

keywords = "Adaptive least square, Robotic arm, State-feedback control, Uniform stability",

author = "{de Jes{\'u}s Rubio}, Jos{\'e}",

note = "Publisher Copyright: {\textcopyright} 2014, Springer-Verlag Berlin Heidelberg.",

year = "2015",

month = dec,

day = "1",

doi = "10.1007/s00500-014-1300-2",

language = "Ingl{\'e}s",

volume = "19",

pages = "3665--3676",

journal = "Soft Computing",

issn = "1432-7643",

number = "12",

}

TY - JOUR

T1 - Adaptive least square control in discrete time of robotic arms

AU - de Jesús Rubio, José

PY - 2015/12/1

Y1 - 2015/12/1

N2 - 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.

AB - 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.

KW - Adaptive least square

KW - Robotic arm

KW - State-feedback control

KW - Uniform stability

UR - http://www.scopus.com/inward/record.url?scp=84947093016&partnerID=8YFLogxK

U2 - 10.1007/s00500-014-1300-2

DO - 10.1007/s00500-014-1300-2

M3 - Artículo

SN - 1432-7643

VL - 19

SP - 3665

EP - 3676

JO - Soft Computing

JF - Soft Computing

IS - 12

ER -

Adaptive least square control in discrete time of robotic arms

Resumen

Acceder al documento

Otros archivos y enlaces

Huella

Citar esto