A fully adaptive decentralized control of robot manipulators

被引：104

作者：

Hsu, Su-Hau

Fu, Li-Chen ^{[1
]}

机构：

[1] Natl Taiwan Univ, Dept Elect Engn, Taipei 10764, Taiwan

[2] Natl Taiwan Univ, Dept Comp Sci & Informat Engn, Taipei 10764, Taiwan

来源：

AUTOMATICA | 2006年 / 42卷 / 10期

关键词：

decentralized control; adaptive control; robot manipulators;

D O I：

10.1016/j.automatica.2006.05.012

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we develop a fully adaptive decentralized controller of robot manipulators for trajectory tracking. With high-order and adaptive variable-structure compensations, the proposed scheme makes both position and velocity tracking errors of robot manipulators globally converge to zero asymptotically while allowing all signals in closed-loop systems to be bounded, even without any prior knowledge of robot manipulators. Thus this control scheme is claimed to be fully adaptive. Even when the proposed scheme is modified to avoid the possible chattering in actual implementations, the overall performance will remain appealing. Finally, numerical results are provided to verify the effectiveness of the proposed schemes at the end. (C) 2006 Elsevier Ltd. All rights reserved.

引用

页码：1761 / 1767

页数：7

共 15 条

[1]

Filippov A. F., 1964, Trans. Amer. Math. Soc. Ser, V2, P199, DOI DOI 10.1090/TRANS2/042/13

[2] ROBUST ADAPTIVE DECENTRALIZED CONTROL OF ROBOT MANIPULATORS [J].