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

Volume

2

fYear

1996

fDate

5-10 Aug 1996

Firstpage

1258

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IECON.1996.566060

Filename

566060