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Article: Application of Lyapunov-like methodology for a humanoid robot tracking in task space
Title | Application of Lyapunov-like methodology for a humanoid robot tracking in task space |
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Authors | |
Keywords | Adaptive control Humanoid robot Neural network |
Issue Date | 2004 |
Citation | Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2004, v. 21, n. 3, p. 351-356 How to Cite? |
Abstract | A 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 Identifier | http://hdl.handle.net/10722/213147 |
ISSN | 2023 SCImago Journal Rankings: 0.243 |
DC Field | Value | Language |
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dc.contributor.author | Liu, Ying Zhuo | - |
dc.contributor.author | Wang, Yue Chao | - |
dc.contributor.author | Xi, Ning | - |
dc.date.accessioned | 2015-07-28T04:06:17Z | - |
dc.date.available | 2015-07-28T04:06:17Z | - |
dc.date.issued | 2004 | - |
dc.identifier.citation | Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2004, v. 21, n. 3, p. 351-356 | - |
dc.identifier.issn | 1000-8152 | - |
dc.identifier.uri | http://hdl.handle.net/10722/213147 | - |
dc.description.abstract | A 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.language | eng | - |
dc.relation.ispartof | Kongzhi Lilun Yu Yingyong/Control Theory and Applications | - |
dc.subject | Adaptive control | - |
dc.subject | Humanoid robot | - |
dc.subject | Neural network | - |
dc.title | Application of Lyapunov-like methodology for a humanoid robot tracking in task space | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.scopus | eid_2-s2.0-7944233218 | - |
dc.identifier.volume | 21 | - |
dc.identifier.issue | 3 | - |
dc.identifier.spage | 351 | - |
dc.identifier.epage | 356 | - |
dc.identifier.issnl | 1000-8152 | - |