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.
|Title of host publication||Proceedings of ASME Intl Mechanical Engineering Congress IMECE´04 : Dynamic Systems and Control|
|Place of Publication||New York, USA|
|Publisher||American Society of Mechanical Engineers|
|Publication status||Published - 2004|
|Event||ASME International Mechanical Engineering Congress IMECE´04 - Anaheim, CA, United States|
Duration: 14 Nov 2004 → 19 Nov 2004
|Conference||ASME International Mechanical Engineering Congress IMECE´04|
|Period||14/11/2004 → 19/11/2004|
Andersen, T. O., Hansen, M. R., & Conrad, F. (2004). Linear Perturbation Adaptive Control of Hydraulically Driven Manipulators. In Proceedings of ASME Intl Mechanical Engineering Congress IMECE´04: Dynamic Systems and Control (Vol. 2, pp. 1-8). American Society of Mechanical Engineers.