Title :
An improved decentralized robust adaptive control strategy of robot manipulators
Author :
Hongbin, Wang ; Zuoshi, Song
Author_Institution :
Electron. Dept., YanShang Univ., China
Abstract :
An improved decentralized robust adaptive control strategy for trajectory tracking of robot manipulators with uncertainties is proposed in this paper, which utilized the idea of Ming Liu (1999). This controller consists of a linear PD controller and a nonlinear adaptive feedback as well as a cubic compensation term The control law has the formation of decentralization and overcomes uncertainty effects such as frictions and external disturbance. The simulation comparison of 2-DOF rigid robot is presented to show effectiveness, feasibility and superiority of the proposed scheme.
Keywords :
adaptive control; manipulators; robust control; two-term control; uncertainty handling; PD controller; control law; cubic compensation; decentralized control; nonlinear adaptive feedback; robot manipulators; robust adaptive control; trajectory tracking; uncertainties; Adaptive control; Friction; Linear feedback control systems; Manipulators; PD control; Programmable control; Robots; Robust control; Trajectory; Uncertainty;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1022196
