Adaptive control for manipulators with unknown virtual control coefficients and input nonlinearities

Autor: Tianyue Zhou, Cungen Liu, Huanqing Wang, Yulong Sun, Piming Ma, Wensheng Zhang, Weihong Zhu
Jazyk: angličtina
Rok vydání: 2022
Předmět:
Zdroj: IET Control Theory & Applications, Vol 16, Iss 11, Pp 1063-1074 (2022)
Druh dokumentu: article
ISSN: 1751-8652
1751-8644
DOI: 10.1049/cth2.12285
Popis: Abstract This paper addresses the adaptive control problem for a one‐link manipulator system driven by a motor with uncertain virtual control coefficients (VCCs) and nonlinearities. The unknown VCCs are composed by the certain and uncertain items, where the first part is decided by the moment of inertia of the manipulator and another is generated by that of the load. An auxiliary variable and the Nussbaum gain technique are invoked to handle the uncertainties of VCCs and input nonlinearities. Moreover, a finite‐time prescribed performance function is introduced to design the adaptive control scheme for the manipulator system, which guarantees the tracking error converges to a fixed interval in a setting time and all signals in the manipulator system are bounded.
Databáze: Directory of Open Access Journals
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