Title :
Backstepping based hybrid adaptive control of robot manipulators incorporating actuator dynamics
Author :
Su, Chun-Yi ; Stepanenko, Yury
Author_Institution :
Dept. of Mech. Eng., Victoria Univ., BC, Canada
Abstract :
By using the integrator backstepping technique, the control of rigid-link electrically-driven robot manipulators is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple due to the avoidance of the derivative computation of the regressor matrix. Semi-global asymptotic stability of the controller is established in the Lyapunov sense
Keywords :
adaptive control; asymptotic stability; cascade control; electric actuators; manipulator dynamics; motion control; path planning; Lyapunov sense; actuator dynamics; actuator parameters; cascade control; electrically-driven robot manipulators; hybrid adaptive control; inertia parameters; integrator backstepping technique; regressor matrix; rigid-link manipulators; robot manipulators; semi-global asymptotic stability; Actuators; Adaptive control; Asymptotic stability; Backstepping; Differential equations; Manipulator dynamics; Robot sensing systems; Robust control; Symmetric matrices; Uncertainty;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.566060
