%0 Journal Article
%T Application of Lyapunov-like methodology for a humanoid robot tracking in task space<br>类Lyapunov理论在类人形机器人任务空间内跟踪的应用
%A LIU Ying-zhuo
%A WANG Yue-chao
%A XI Ning
%A <br>刘英卓
%A 王越超
%A 席　宁
%J 控制理论与应用
%D 2004
%I 
%X 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.Being 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.Finally,numerical simulation results were given to illustrate the proposed methods.
%K humanoid robot
%K adaptive control
%K neural network<br>类人形机器人
%K 自适应控制
%K 神经网络
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=CD03678AE3BE91D2&yid=D0E58B75BFD8E51C&vid=659D3B06EBF534A7&iid=38B194292C032A66&sid=381FB4265090A8E0&eid=35E8A259891FB32F&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=6