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

Burkan R.

ROBOTICA, cilt.24, ss.523-525, 2006 (SCI İndekslerine Giren Dergi) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 24
  • Basım Tarihi: 2006
  • Doi Numarası: 10.1017/s0263574705002523
  • Dergi Adı: ROBOTICA
  • Sayfa Sayıları: ss.523-525


In the paper,(1) 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.