Title :
Adaptive robust tracking control for compliant-joint mechanical arms with motor dynamics
Author_Institution :
Dept. of Electr. Eng., Yungta Coll. of Technol. & Commerce, Pingtung, Taiwan
fDate :
6/21/1905 12:00:00 AM
Abstract :
Investigates the tracking control problem of an elastic-joint mechanical manipulator with DC motor dynamics. We present an adaptive variable structure control scheme to circumvent such problems. It only requires the measurements of position and velocity signals of links and motor shafts as well as the armature current. Besides, all the system parameters are assumed to be unknown a priori, and the asymptotic stability of the overall system can be concluded by Lyapunov theory. In the simulation case, the effectiveness of the proposed control algorithm is also demonstrated
Keywords :
DC motors; Lyapunov methods; adaptive control; asymptotic stability; control system synthesis; manipulator dynamics; position control; position measurement; robust control; variable structure systems; velocity measurement; DC motor dynamics; adaptive robust tracking control; adaptive variable structure control scheme; compliant-joint mechanical arms; elastic-joint mechanical manipulator; motor dynamics; Adaptive control; Current measurement; DC motors; Manipulator dynamics; Mechanical variables control; Position measurement; Programmable control; Robust control; Shafts; Velocity measurement;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827798
