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Article: Application of Lyapunov-like methodology for a humanoid robot tracking in task space

TitleApplication of Lyapunov-like methodology for a humanoid robot tracking in task space
Authors
KeywordsAdaptive control
Humanoid robot
Neural network
Issue Date2004
Citation
Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2004, v. 21, n. 3, p. 351-356 How to Cite?
AbstractA new method for the arm control of a humanoid robot is proposed under the consideration of many uncertain factors. Based on Lyapunov-like methodology, controllers in task space were constructed which had a robust effect different from common results, the obtained controllers not only guarantee tracking stability within a finite prescribed time, but also need not solve the inverse of Jacobian matrix and achieve robustness with respect to a class of bounded disturbance. Numerical simulation results were given to illustrate the proposed methods.
Persistent Identifierhttp://hdl.handle.net/10722/213147
ISSN
2015 SCImago Journal Rankings: 0.308

 

DC FieldValueLanguage
dc.contributor.authorLiu, Ying Zhuo-
dc.contributor.authorWang, Yue Chao-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:06:17Z-
dc.date.available2015-07-28T04:06:17Z-
dc.date.issued2004-
dc.identifier.citationKongzhi Lilun Yu Yingyong/Control Theory and Applications, 2004, v. 21, n. 3, p. 351-356-
dc.identifier.issn1000-8152-
dc.identifier.urihttp://hdl.handle.net/10722/213147-
dc.description.abstractA new method for the arm control of a humanoid robot is proposed under the consideration of many uncertain factors. Based on Lyapunov-like methodology, controllers in task space were constructed which had a robust effect different from common results, the obtained controllers not only guarantee tracking stability within a finite prescribed time, but also need not solve the inverse of Jacobian matrix and achieve robustness with respect to a class of bounded disturbance. Numerical simulation results were given to illustrate the proposed methods.-
dc.languageeng-
dc.relation.ispartofKongzhi Lilun Yu Yingyong/Control Theory and Applications-
dc.subjectAdaptive control-
dc.subjectHumanoid robot-
dc.subjectNeural network-
dc.titleApplication of Lyapunov-like methodology for a humanoid robot tracking in task space-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-7944233218-
dc.identifier.volume21-
dc.identifier.issue3-
dc.identifier.spage351-
dc.identifier.epage356-

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