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Modelling of a logarithmic parameter adaptation law for adaptive control of mechanical manipulators

Published online by Cambridge University Press:  23 January 2006

Recep Burkan
Recep Burkan
Affiliation:
Erciyes University, Vocational College of Kayseri, 38039 Kayseri (Turkey) E-mail: [email protected]
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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.

Type
Article
Information
Robotica , Volume 24 , Issue 4 , July 2006 , pp. 523 - 525
Copyright
2006 Cambridge University Press

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