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Control of Rigid Robots Equipped with Brushed DC-Motors as Actuators  

Hernandez-Guzman, Victor M. (Universidad Autonoma de Queretaro, Facultad de Ingenieria)
Santibanez, Victor (Instituto Tecnologico de la Laguna, Division de Estudios de Posgrado e Investigacion)
Herrera, Gilberto (Universidad Autonoma de Queretaro, Facultad de Ingenieria)
Publication Information
International Journal of Control, Automation, and Systems / v.5, no.6, 2007 , pp. 718-724 More about this Journal
Abstract
We extend the application of an adaptive controller previously introduced in the literature under the assumption that no actuator dynamics exists to the case when the dynamics of the brushed DC-motors used as actuators is not neglected. Convergence to the desired positions is ensured without requiring any feedback to cope with the additional electric dynamics. The proposed control scheme does not require the exact knowledge of neither robot nor actuator parameters to select controller gains.
Keywords
Adaptive control; brushed DC-motor actuators; Lyapunov stability; position regulation; robot control;
Citations & Related Records

Times Cited By Web Of Science : 6  (Related Records In Web of Science)
Times Cited By SCOPUS : 6
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