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

fYear

1988

fDate

24-29 Apr 1988

Firstpage

1016

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Conference_Location

Philadelphia, PA

Print_ISBN

0-8186-0852-8

Type

conf

DOI

10.1109/ROBOT.1988.12194

Filename

12194