TY - GEN
T1 - Priority oriented adaptive control of kinematically redundant manipulators
AU - Sadeghian, Hamid
AU - Keshmiri, Mehdi
AU - Villani, Luigi
AU - Siciliano, Bruno
PY - 2012
Y1 - 2012
N2 - In this paper an adaptive multi-priority nonlinear control algorithm for a redundant manipulator system is developed based on the Lyapunov like approach. The method considers the parametric uncertainties in the system and defines a proper filtered error signal to achieve asymptotic stability and convergence in tracking error, both for the main task and sub-tasks according to the allocated priority. The performance of the proposed method is studied by some numerical simulations.
AB - In this paper an adaptive multi-priority nonlinear control algorithm for a redundant manipulator system is developed based on the Lyapunov like approach. The method considers the parametric uncertainties in the system and defines a proper filtered error signal to achieve asymptotic stability and convergence in tracking error, both for the main task and sub-tasks according to the allocated priority. The performance of the proposed method is studied by some numerical simulations.
UR - http://www.scopus.com/inward/record.url?scp=84864458355&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224841
DO - 10.1109/ICRA.2012.6224841
M3 - Conference contribution
AN - SCOPUS:84864458355
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 293
EP - 298
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -