Linear Perturbation Adaptive Control of Hydraulically Driven Manipulators

T.O. Andersen, M.R. Hansen, Finn Conrad

    Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

    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 languageEnglish
    Title of host publicationProceedings of ASME Intl Mechanical Engineering Congress IMECE´04 : Dynamic Systems and Control
    Volume2
    Place of PublicationNew York, USA
    PublisherThe American Society of Mechanical Engineers (ASME)
    Publication date2004
    Pages1-8
    ISBN (Print)0-7918-4179-0
    Publication statusPublished - 2004
    EventASME International Mechanical Engineering Congress IMECE´04 - Anaheim, CA, United States
    Duration: 14 Nov 200419 Nov 2004
    http://www.asmedl.org/browse/asme/volume.jsp?KEY=ASMECP&type=c2v&code=IMECE2004&id=79086&series=IMECE2004&type=c2v

    Conference

    ConferenceASME International Mechanical Engineering Congress IMECE´04
    Country/TerritoryUnited States
    CityAnaheim, CA
    Period14/11/200419/11/2004
    Internet address

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