Design of adaptive compensators for the control of robot manipulators robust to unknown structured and unstructured parameters

Recep BURKAN

Makale detayları

Design of adaptive compensators for the control of robot manipulators robust to unknown structured and unstructured parameters

Yazarlar:

Recep BURKAN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 2, pp.452-469

Belge Tipi:

Makale

Yayın Tarihi:

1/2013

Belge Dili:

Türkçe

Document ID (Org No.):

2000743348

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

In this paper, a new adaptive-robust control approach for  robot manipulators is developed.  The adaptive-robust control law is  not only robust to unknown structured parameters but also robust to  unknown unstructured parameters such as unstructured joint friction  and disturbances.  The bounded disturbances and unstructured model are  taken into account in a dynamic model and it is assumed that the  structured and unstructured parameters are unknown.  The structured  and unstructured parameters are distinguished between parameters and  these parameters are treated separately.  Next, new parameter  estimation functions are developed for each of the 2 uncertainty  groups.  After that, the developed dynamic adaptive compensators for  the unknown structured and unknown unstructured parameters are  combined and the control law is formulated by the combination of the  compensators, including the proportional-derivative feedforward  control.  Based on the Lyapunov theory, the uniform ultimate  boundedness of the tracking error is obtained.

 

In this paper, a new adaptive-robust control approach for  robot manipulators is developed.  The adaptive-robust control law is  not only robust to unknown structured parameters but also robust to  unknown unstructured parameters such as unstructured joint friction  and disturbances.  The bounded disturbances and unstructured model are  taken into account in a dynamic model and it is assumed that the  structured and unstructured parameters are unknown.  The structured  and unstructured parameters are distinguished between parameters and  these parameters are treated separately.  Next, new parameter  estimation functions are developed for each of the 2 uncertainty  groups.  After that, the developed dynamic adaptive compensators for  the unknown structured and unknown unstructured parameters are  combined and the control law is formulated by the combination of the  compensators, including the proportional-derivative feedforward  control.  Based on the Lyapunov theory, the uniform ultimate  boundedness of the tracking error is obtained.

Makale detayları

Design of adaptive compensators for the control of robot manipulators robust to unknown structured and unstructured parameters

Yazarlar: Recep BURKAN

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 2, pp.452-469

Belge Tipi: Makale

Yayın Tarihi: 1/2013

Belge Dili: Türkçe

Document ID (Org No.): 2000743348

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Recep BURKAN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 2, pp.452-469

Belge Tipi:

Makale

Yayın Tarihi:

1/2013

Belge Dili:

Türkçe

Document ID (Org No.):

2000743348

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632