DocumentCode
2025453
Title
An improved decentralized robust adaptive control strategy of robot manipulators
Author
Hongbin, Wang ; Zuoshi, Song
Author_Institution
Electron. Dept., YanShang Univ., China
Volume
1
fYear
2002
fDate
2002
Firstpage
664
Abstract
An improved decentralized robust adaptive control strategy for trajectory tracking of robot manipulators with uncertainties is proposed in this paper, which utilized the idea of Ming Liu (1999). This controller consists of a linear PD controller and a nonlinear adaptive feedback as well as a cubic compensation term The control law has the formation of decentralization and overcomes uncertainty effects such as frictions and external disturbance. The simulation comparison of 2-DOF rigid robot is presented to show effectiveness, feasibility and superiority of the proposed scheme.
Keywords
adaptive control; manipulators; robust control; two-term control; uncertainty handling; PD controller; control law; cubic compensation; decentralized control; nonlinear adaptive feedback; robot manipulators; robust adaptive control; trajectory tracking; uncertainties; Adaptive control; Friction; Linear feedback control systems; Manipulators; PD control; Programmable control; Robots; Robust control; Trajectory; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN
0-7803-7268-9
Type
conf
DOI
10.1109/WCICA.2002.1022196
Filename
1022196
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