Modelling of a logarithmic parameter adaptation law for adaptive control of mechanical manipulators
ROBOTICA, cilt.24, ss.523-525, 2006 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 24
- Basım Tarihi: 2006
- Doi Numarası: 10.1017/s0263574705002523
- Dergi Adı: ROBOTICA
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Sayfa Sayıları: ss.523-525
- İstanbul Üniversitesi-Cerrahpaşa Adresli: Hayır
Özet
In the paper,(1) 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.