Design parameters and uncertainty bound estimation functions for adaptive-robust control of robot manipulators
| Autor: | Recep Burkan |
|---|---|
| Rok vydání: | 2012 |
| Předmět: |
Lyapunov function
Mathematical optimization Adaptive control General Computer Science Function (mathematics) Robust control adaptive control robot manipulators parameter uncertainty adaptive-robust control stability analysis Tracking error symbols.namesake Control theory symbols Trigonometric functions Uniform boundedness Electrical and Electronic Engineering Robust control Mathematics |
| Zdroj: | Volume: 20, Issue: 1 169-186 Turkish Journal of Electrical Engineering and Computer Science |
| ISSN: | 1303-6203 1300-0632 |
| DOI: | 10.3906/elk-1007-628 |
| Popis: | In this paper, a parameter and uncertainty bound estimation functions for adaptive-robust control of robot manipulators are developed. A Lyapunov function is defined and parameters and uncertainty bound estimation functions are developed based on the Lyapunov function. Thus, stability of an uncertain system is guaranteed and uniform boundedness of the tracking error is achieved. As distinct from previous parameter and bound estimation laws, the parameters and uncertainty bounds are updated as a function of a combination of trigonometric function depending on robot parameters and tracking error. Based on the same Lyapunov function, a robust control law is also defined and the stability of the uncertain system is proved under the same set of conditions. Simulation results are given to illustrate the tracking performance of the proposed adaptive-robust controller. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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