Decentralized adaptive control for robot arm tracking

Author

Liu, Ming

Author_Institution

Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Caulfield East, Vic., Australia

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

1731

Abstract

We propose a decentralized (or so called independent-joint) adaptive control scheme. The adaptive control is developed based on the passivity and linear-in-parameters properties of the robot motion equation. The proposed scheme, which consists of a PD term, a nonlinear term and an adaptation term, ensures the globally ultimately bounded tracking errors and parameter estimation errors. The practical significance of the scheme lies in the fact that it can be implemented in most robot manipulators without hardware alteration

Keywords

adaptive control; asymptotic stability; decentralised control; manipulator dynamics; nonlinear control systems; parameter estimation; position control; two-term control; PD term; adaptation term; decentralized adaptive control; globally ultimately bounded tracking errors; independent-joint adaptive control; linear-in-parameters properties; nonlinear term; parameter estimation errors; passivity; robot arm tracking; robot motion equation; Adaptive control; Automatic control; Control systems; Convergence; Distributed control; Error correction; Feedback; Manipulators; Nonlinear equations; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614398

Filename

614398