A New Recursive Composite Adaptive Controller for Robot Manipulators  

作　　者：Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu 

机构地区：[1]The State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China [2]Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications,Beijing Institute of Spacecraft System Engineering,Beijing 100094,China [3]State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China

出　　处：《Space(Science & Technology)》2021年第1期77-83,共7页空间科学与技术（英文）

基　　金：This work was supported by the Major Project of the New Generation of Artificial Intelligence(No.2018AAA0102900).

摘　　要：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 O(n),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.

关 键 词：ROBOT MANIPULATORS ROBOT 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]