Jianfei Li, Yaobing Wang, Zhiyong Liu, Xin Jing, Chengwei Hu
{"title":"A New Recursive Composite Adaptive Controller for Robot Manipulators","authors":"Jianfei Li, Yaobing Wang, Zhiyong Liu, Xin Jing, Chengwei Hu","doi":"10.34133/2021/9801421","DOIUrl":null,"url":null,"abstract":"In this paper, a new recursive implementation of composite adaptive control for robot manipulators is proposed. We investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form, which, to our knowledge, is the first result on this point in the literature. The proposed algorithm has an amount of computation On, which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree manipulators. The manipulator of the Chinese Space Station is employed as a simulation example, and the results verify the effectiveness of this proposed recursive algorithm.","PeriodicalId":44234,"journal":{"name":"中国空间科学技术","volume":"16 1","pages":""},"PeriodicalIF":0.5000,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"中国空间科学技术","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.34133/2021/9801421","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}
引用次数: 13
Abstract
In this paper, a new recursive implementation of composite adaptive control for robot manipulators is proposed. We investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form, which, to our knowledge, is the first result on this point in the literature. The proposed algorithm has an amount of computation On, which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree manipulators. The manipulator of the Chinese Space Station is employed as a simulation example, and the results verify the effectiveness of this proposed recursive algorithm.
期刊介绍：
"China Space Science and Technology" is sponsored by the China Academy of Space Technology. It is an academic and technical journal that comprehensively and systematically reflects China's spacecraft engineering technology. The purpose of this journal is to "exchange scientific research results, explore cutting-edge technologies, activate academic research, promote talent growth, and serve the space industry", and strive to make "China Space Science and Technology" a first-class academic and technical journal in China.
This journal follows the principle of "let a hundred flowers bloom and a hundred schools of thought contend", promotes academic democracy, and actively carries out academic discussions, making this journal an important platform for Chinese space science and technology personnel to publish research results, conduct academic exchanges, and explore cutting-edge technologies; it has become an important window for promoting and displaying China's academic achievements in space technology.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
