Variable structure adaptive cascade control of rigid-link electrically-driven robot manipulators

Author

Guenther, Raul ; Hsu, Liu

Author_Institution

Univ. Federal de Sao Carlos, Brazil

fYear

1993

fDate

15-17 Dec 1993

Firstpage

2137

Abstract

This paper addresses the design of adaptive tracking control of rigid-link electrically-driven robot manipulators, in the case of arbitrary uncertain mechanical and electrical parameters of the robot model. A strategy based on cascade central is presented combining an adaptive scheme for rigid-link robot control with a variable-structure control law for actuator control. Global asymptotic stability is ensured and the very satisfactory performance achieved is illustrated by a simulation example

Keywords

adaptive control; cascade control; control system synthesis; position control; robots; stability; tracking; variable structure systems; actuator control; adaptive tracking control; global asymptotic stability; manipulators; rigid-link electrically-driven robot; robot model; uncertain electrical parameters; uncertain mechanical parameters; variable structure adaptive cascade control; Actuators; Adaptive control; Asymptotic stability; Electric variables control; Manipulator dynamics; Mechanical variables control; Programmable control; Robots; Robust stability; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-1298-8

Type

conf

DOI

10.1109/CDC.1993.325574

Filename

325574