Robust adaptive command filtered control of a robotic manipulator with uncertain dynamic and joint space constraints
| Autor: | Joseph Jean-Baptiste Mvogo Ahanda, Jean Bosco Mbede, Achille Melingui, Bernard Essimbi Zobo |
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| Rok vydání: | 2018 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Adaptive control Computer science General Mathematics Control (management) Stability (learning theory) 02 engineering and technology Computer Science Applications Support vector machine symbols.namesake 020901 industrial engineering & automation Control and Systems Engineering Control theory Bounded function 0202 electrical engineering electronic engineering information engineering Trajectory symbols 020201 artificial intelligence & image processing Robust control Software |
| Zdroj: | Robotica. 36:767-786 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574718000036 |
| Popis: | SUMMARYThe problem of robust adaptive control of a robotic manipulator subjected to uncertain dynamics and joint space constraints is addressed in this paper. Command filters are used to overcome the time derivatives of virtual control, thus reducing the need for desired trajectory differentiations. A barrier Lyapunov function is used to deal with the joint space constraints. A robust adaptive support vector regression architecture is used to reduce filtering errors, approximation errors and handle dynamic uncertainties. The stability analysis of the closed-loop system using the Lyapunov theory permits to highlight adaptation laws and to prove that all signals of the closed-loop system are bounded. Simulations show the effectiveness of the proposed control strategy. |
| Databáze: | OpenAIRE |
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