Journal ArticleDOI
Dealing with time-varying parameter problem of robot manipulators performing path tracking tasks
TLDR
Using the properties of the element by element (or Hadamard) product of matrices, this paper obtained the robot dynamics in parameter-isolated form, from which a new control scheme was developed.Abstract:
Using the properties of the element by element (or Hadamard) product of matrices, the authors obtain the robot dynamics in parameter-isolated form, from which a new control scheme is developed. The controller proposed yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching type control law. The results obtained are global in the initial state of the robot, and can be applied to rapidly varying systems. >read more
Citations
More filters
Journal ArticleDOI
Adaptive control of time-varying mechanical systems: analysis and experiments
TL;DR: In this article, a new adaptive controller for time-varying mechanical systems is proposed based on two assumptions: 1) the dynamics of the time varying mechanical system is derived under the assumption that the generalized constraints on the system do not depend on time but the system parameters, such as masses and payloads are time varying; and 2) the time changing parameters are given by a group of known bounded time functions and unknown constants.
Journal ArticleDOI
Robust adaptive control of redundant manipulators
Richard Colbaugh,Kristin Glass +1 more
TL;DR: This paper presents an adaptive scheme for the motion control of kinematically redundant manipulators that provides accurate and robust trajectory tracking and permits the available redundancy to be utilized so that a high bandwidth response can be achieved over a large workspace.
Journal ArticleDOI
Adaptive motion tracking control of robot manipulators-non-regressor based approach
TL;DR: A strategy consisting of a linear feedback control and a self-tuning control that is simplicity in design, program code and real-time implementation, and uncertain effects such as static and dynamic joint frictions and external disturbances can be handled.
Journal ArticleDOI
Control of a class of nonlinear uncertain systems via compensated inverse dynamics approach
TL;DR: The tracking control problem of a class of nonlinear systems via inverse dynamics method is addressed and a compensated inverse dynamics approach is proposed to account for the effect of uncertainties.
References
More filters
Book
Differential Equations with Discontinuous Righthand Sides
TL;DR: The kind and level of sophistication of mathematics applied in various sciences has changed drastically in recent years: measure theory is used (non-trivially) in regional and theoretical economics, algebraic geometry interacts with physics, and such new emerging subdisciplines as "experimental mathematics", "CFD", "completely integrable systems", "chaos, synergetics and large-scale order", which are almost impossible to fit into the existing classification schemes.
Journal ArticleDOI
On the adaptive control of robot manipulators
Jean-Jacques E. Slotine,W. Li +1 more
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Journal ArticleDOI
Differential equations with discontinuous right-hand sides☆
TL;DR: In this article, the existence results for differential equations with discontinuous right-hand sides with great generality are established and proved for high-order ordinary and partial differential equations for the following problem.
Book
Adaptive control of mechanical manipulators
TL;DR: What is believed to be the first golbally convergent, rigorous proof of the stability of such a scheme in its non-linear setting, as well as its asymptotic properties and conditions for parameter convergence are presented.
Related Papers (5)
Instability analysis and robust adaptive control of robotic manipulators
John S. Reed,Petros Ioannou +1 more
Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks
Y.D. Song,Richard H. Middleton +1 more