On the adaptive control of robot manipulators
International Journal of Robotics Research
Stable adaptive systems
Adaptive motion control of rigid robots: a tutorial
Automatica (Journal of IFAC) - Identification and systems parameter estimation
Robot Dynamics and Control
Stable Adaptive Neural Network Control
Stable Adaptive Neural Network Control
Stable Adaptive Control and Estimation for Nonlinear Systems: Neural and Fuzzy Approximation Techniques
FAT-based adaptive visual servoing for robots with time varying uncertainties
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
International Journal of Robotics and Automation
Constrained motion control of flexible robot manipulators based on recurrent neural networks
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Adaptive multiple-surface sliding control for non-autonomous systems with mismatched uncertainties
Automatica (Journal of IFAC)
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To the best of our knowledge, this is the first paper focus on the adaptive impedance control of robot manipulators with consideration of joint flexibility and actuator dynamics. Controller design for this problem is difficult because each joint of the robot has to be described by a fifth-order cascade differential equation. In this paper, a backstepping-like procedure incorporating the model reference adaptive control strategy is employed to construct the impedance controller. The function approximation technique is applied to estimate time-varying uncertainties in the system dynamics. The proposed control law is free from the calculation of the tedious regressor matrix, which is a significant simplification in implementation. Closed-loop stability and boundedness of internal signals are proved by the Lyapunov-like analysis with consideration of the function approximation error. Computer simulation results are presented to demonstrate the usefulness of the proposed scheme.