Title :
Decentralized adaptive control [robot]
Author :
Oh, B.J. ; Jamshidi, M. ; Seraji, H.
Author_Institution :
Dept. of Electr. & Comput. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
A decentralized adaptive control is proposed to stabilize and track the nonlinear interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov´s direct method. The adaptive gains consist of σ, proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development
Keywords :
Lyapunov methods; adaptive control; distributed control; model reference adaptive control systems; nonlinear control systems; robots; stability; Lyapunov´s direct method; decentralized adaptive control; gain; manipulator; model reference adaptive control; nonlinear interconnected subsystems; two-link robot; Adaptive control; Control systems; Couplings; Laboratories; Manipulators; Nonlinear control systems; Programmable control; Propulsion; Robot sensing systems; Robust control;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12194
