Proceedings ArticleDOI
Decentralized adaptive control of robot manipulators
D.T. Gavel,T. Hsia +1 more
- Vol. 4, pp 1230-1235
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TLDR
A decentralized adaptive control scheme is presented for multilink robot arms that allows local high gain feedback control to stabilize the overall system, and cause the arm to track reference trajectories to any accuracy desired.Abstract:
A decentralized adaptive control scheme is presented for multilink robot arms. The structure of dynamic and force interactions in the robot arm allows local high gain feedback control to stabilize the overall system, and cause the arm to track reference trajectories to any accuracy desired. The adaptive law is locally stable with an attractive set that is adjustable a-priori using minimal knowledge of robot parameters. Robot manipulators control using decentralized approach is highly desirable in that it facilitates real-time implementation.read more
Citations
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Journal ArticleDOI
Parameter space methods for robust control design: a guided tour
TL;DR: The results obtained in studies of robust stability and stabilizability of control systems with parametric (structured) uncertainties are reviewed in this paper, where both the algebraic methods based upon characteristic equations and the methods using Lyapunov functions and Riccati equations are discussed and compared.
Journal ArticleDOI
Decentralized adaptive controller design for large-scale systems with higher order interconnections
Lin Shi,S.K. Singh +1 more
TL;DR: In this article, the authors considered a general representation of interconnections when the strength of the interconnection is bounded by a pth-order polynomial in states, and designed two adaptive controllers with partially centralized compensation and a fully adaptive decentralized controller.
Journal ArticleDOI
Decentralized adaptive control of a class of large-scale interconnected nonlinear systems
S. Jain,Farshad Khorrami +1 more
TL;DR: The controller is shown to maintain robustness for a wide class of systems obtained by perturbation in the dynamics of the original system, and appending additional subsystems does not require controller redesign for the original subsystems.
Journal ArticleDOI
Decentralized adaptive control of manipulators: theory, simulation, and experimentation
TL;DR: Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics, and to achieve accurate tracking of desired joint trajectories under coupled dynamics and varying payload.
Journal ArticleDOI
Decentralized robust control of mechanical systems
TL;DR: A decentralized control is proposed, which guarantees the uniform ultimate stability when the control objective is tracking a smooth desired trajectory and is based on some physical properties of such systems and Lyapunov design methodology.
References
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Journal ArticleDOI
An Adaptive Model Following Control for Robotic Manipulators
TL;DR: On developpe un systeme de commande adaptative avec poursuite de modele pour des robots manipulateurs, a l'aide de la theorie de l'hyperstabilite.
Proceedings ArticleDOI
Adaptive control of robot manipulators - A review
TL;DR: An indepth review of existing developments whereby the robot adaptive control problems and solutions are systematically studied, to unify the various design ideas under a common frame work.
Journal ArticleDOI
Brief paper: On decentrally stabilizable large-scale systems
Masao Ikeda,D. D. iljak +1 more
TL;DR: A class of large-scale systems is defined, which can always be stabilized by local feedback, and Stability of the closed-loop system is connective and can tolerate nonlinearities in the interconnections.
Journal ArticleDOI
Decentrally stabilizable linear and bilinear large-scale systems†
TL;DR: The stabilization algorithm is applied to the design of a control system for the Large-Space Telescope using a linear feedback scheme to establish a finite region of stability for the overall system.
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Decentralized adaptive controller design for large-scale systems with higher order interconnections
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