A robust adaptive controller design for manipulators with uncertain dynamics

Author

Bucak, I. Ö ; Gürleyen, F. ; Palaz, H.

Author_Institution

Dept. of Electron., Marmara Res. Center, Kocaeli, Turkey

fYear

1994

fDate

12-14 Apr 1994

Firstpage

731

Abstract

Based on the second method of Lyapunov stability theory, a robust model reference adaptive control system, in this system, is developed to obtain high performance of a robot arm with two degrees of freedom that has wide variations in its payload and spatial configurations. The main advantage of this technique over the others is that it guarantees directly the stability of the overall system without requiring any additional stability analysis. The other is simplicity in computation, which provides the capability of real-time control calculation with today´s microprocessors. In order to demonstrate the capability of this technique, it has been conducted a computer simulation for a two-link planar manipulator with revolute joints

Keywords

Lyapunov methods; model reference adaptive control systems; robots; robust control; uncertain systems; Lyapunov stability theory; MRAC; microprocessors; real-time control calculation; revolute joints; robust model reference adaptive control system; stability; two-link planar manipulator; uncertain dynamics; Adaptive control; Lyapunov method; Manipulators; Microprocessors; Payloads; Programmable control; Robots; Robust control; Robust stability; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrotechnical Conference, 1994. Proceedings., 7th Mediterranean

Conference_Location

Antalya

Print_ISBN

0-7803-1772-6

Type

conf

DOI

10.1109/MELCON.1994.380902

Filename

380902