Title :
Switched adaptive control for a class of robot manipulators
Author :
Ruishan, Niu ; Xia, Wang ; Jun, Zhao ; Chao, Chen
Author_Institution :
State Key Lab. of Synthetical Autom. for Process Ind., Northeastern Univ., Shenyang, China
Abstract :
A switched adaptive control scheme is proposed for robot manipulators to solve the problem caused by the load variation. The parameter jump caused by load changing is treated as the mode switching of the robot manipulator system. A switched controller, that switches synchronously with the system is designed. The update laws are designed in a way that the estimation value unchanged when its corresponding subsystem is inactive. Asymptotic state tracking under arbitrary switching is gained. An example of a two DOF robot arm is presented to validate the proposed method.
Keywords :
adaptive control; manipulators; time-varying systems; asymptotic state tracking; load variation; parameter jump; robot manipulator system; switched adaptive control scheme; two DOF robot arm; update laws; Adaptation models; Adaptive control; Manipulator dynamics; Switches; Adaptive control; Robot manipulators; State tracking; Switched nonlinear system;
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
Print_ISBN :
978-1-4673-2581-3
