Title :
Experimental results on variable structure adaptive robot control without joint velocity measurement
Author :
Hsu, Liu ; Lizarralde, Fernando
Author_Institution :
Dept. of Electr. Eng., Univ. Federal do Rio de Janeiro, Brazil
Abstract :
The problem of rigid robot manipulator tracking control without measurement of joint velocities and in the presence of parametric uncertainty is considered. A control strategy is proposed based on the VS-MRAC (variable structure model-reference adaptive control) scheme. Theoretical and experimental results on a PUMA 560 indicate that the strategy leads to remarkable tracking error transient behavior, stability and performance robustness with respect to parameter uncertainty, nonlinearities and disturbances
Keywords :
manipulators; model reference adaptive control systems; position control; robust control; tracking; variable structure systems; PUMA 560; VS-MRAC; disturbances; nonlinearities; parametric uncertainty; performance robustness; rigid robot manipulator tracking control; stability; tracking error transient behavior; variable structure adaptive robot control; variable structure model-reference adaptive control; Adaptive control; Magnetic field measurement; Manipulators; Pollution measurement; Position measurement; Programmable control; Robot control; Robust control; Robust stability; Velocity measurement;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.531385
