Abstract
A method for synthesis of a robust adaptive scheme for a hydraulically driven manipulator, that takes full advantage of any known system dynamics to simplify the adaptive control problem for the unknown portion of the dynamics is presented.
The control method is based on adaptive perturbation control.Using the Lyapunov approach, under slowly time-varying assumptions, it is shown that the tracking error and the parameter error remain bounded. This bound is a function of the ideal parameters and a bounded disturbance.
The control algorithm decouples and linearizes the manipulator so that each joint behaves as an independent second-order system with fixed dynamics.
Original language | English |
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Title of host publication | Proceedings of ASME Intl Mechanical Engineering Congress IMECE´04 : Dynamic Systems and Control |
Volume | 2 |
Place of Publication | New York, USA |
Publisher | The American Society of Mechanical Engineers (ASME) |
Publication date | 2004 |
Pages | 1-8 |
ISBN (Print) | 0-7918-4179-0 |
Publication status | Published - 2004 |
Event | ASME International Mechanical Engineering Congress IMECE´04 - Anaheim, CA, United States Duration: 14 Nov 2004 → 19 Nov 2004 http://www.asmedl.org/browse/asme/volume.jsp?KEY=ASMECP&type=c2v&code=IMECE2004&id=79086&series=IMECE2004&type=c2v |
Conference
Conference | ASME International Mechanical Engineering Congress IMECE´04 |
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Country/Territory | United States |
City | Anaheim, CA |
Period | 14/11/2004 → 19/11/2004 |
Internet address |