Title :
Globally adaptive decentralized control of robot manipulators
Author :
Hsu, Su-Hau ; Fu, Li-Chen
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
In this paper, we develop a new adaptive decentralized controller of robot manipulator for trajectory tracking. With the nonlinear control terms, the closed-loop system is globally stable. Furthermore, the adaptive decentralized controller is considered with a σ-modification term such that it becomes robust to the noise in practical implementation. Finally, a numerical study is provided to verify the effectiveness of the proposed scheme.
Keywords :
adaptive control; closed loop systems; decentralised control; manipulator dynamics; nonlinear control systems; stability; tracking; adaptive control; closed-loop system; decentralized control; dynamic model; global stability; nonlinear control system; robot manipulators; tracking; Adaptive control; Control systems; Distributed control; Manipulators; Noise robustness; Nonlinear control systems; Programmable control; Robot control; Robust control; Trajectory;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195431
