| Presentation | 1999/5/13 Adaptive Control for Lagrange's System with Constraint of Input Tetsuya Nakamoto, Tsuyoshi Okita, Yasuhide Kobayashi, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In general, it is very difficult to control motion of manipulators, when their hand grips unknown object. In this case, mass, center of mass, inertia tensor, and viscous friction, coulomb friction of the end link become unknown parameters. This paper proposes a new approach to adaptive control for manipulator. The dynamical system equation is derived from Lagrange's equation and the values of the control input may be restricted to certain limit. Finally, the validity of proposed method is shown by numerical example. The results show that trajectry errors and estimated errors of unknown parameters become very small. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Adaptive Control / Manipulator / Nonlinear System / Parameter Estimation / Flinite Settling Time |
| Paper # | NLP99-1 |
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| Conference Information | |
| Committee | NLP |
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| Conference Date | 1999/5/13(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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| Paper Information | |
| Registration To | Nonlinear Problems (NLP) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Adaptive Control for Lagrange's System with Constraint of Input |
| Sub Title (in English) | |
| Keyword(1) | Adaptive Control |
| Keyword(2) | Manipulator |
| Keyword(3) | Nonlinear System |
| Keyword(4) | Parameter Estimation |
| Keyword(5) | Flinite Settling Time |
| 1st Author's Name | Tetsuya Nakamoto |
| 1st Author's Affiliation | Information Science, Hiroshima City University() |
| 2nd Author's Name | Tsuyoshi Okita |
| 2nd Author's Affiliation | Information Science, Hiroshima City University |
| 3rd Author's Name | Yasuhide Kobayashi |
| 3rd Author's Affiliation | Information Science, Hiroshima City University |
| Date | 1999/5/13 |
| Paper # | NLP99-1 |
| Volume (vol) | vol.99 |
| Number (no) | 41 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |