Title :
The decentralized robust control schemes with a nonlinear adaptive observer
Author_Institution :
Dept. of Autom. Control, Beijing Inst. of Technol., China
Abstract :
The author proposes a decentralized robust control scheme for a robot manipulator with a nonlinear adaptive observer which is based on the simplified dynamics model of the robot manipulator system. It can greatly reduce the amount of online calculation required for controller design. In order to adapt to the changes of the payload and other parameters of the system, a nonlinear adaptive observer is designed to modify the model parameters
Keywords :
adaptive control; computational complexity; decentralised control; nonlinear control systems; parameter estimation; robots; stability; adaptive observer; computational complexity; decentralised control; nonlinear system; robot manipulator; robust control schemes; simplified dynamics model; Adaptive control; Algorithm design and analysis; Design methodology; Manipulator dynamics; Nonlinear control systems; Parallel robots; Predictive models; Programmable control; Robust control; Variable structure systems;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100235
