Title :
An error reference plane of an adaptive controller for a SCARA manipulator
Author :
Tungsubutra, Pattanapong ; Laowattana, Djitt
Author_Institution :
FIBO, King Mongkut´´s Inst. of Technol., Bangkok, Thailand
Abstract :
We study and design an adaptive nonlinear mixed mode controller, focusing on a new reference plane. Its global asymptotic stability with respect to a nonlinear system: a SCARA robot, is theoretically and experimentally proved. The effectiveness of the proposed error reference planes is verified. Our state adaptation algorithm, modeled by using state errors, is able to change characteristics and configuration of each operating point. The experimental results clearly indicate the performance in fast tracking and converging zero of adaptive plane, derivative plane and integral plane
Keywords :
adaptive control; asymptotic stability; manipulators; nonlinear control systems; SCARA manipulator; SCARA robot; adaptive nonlinear mixed mode controller; adaptive plane; derivative plane; error reference plane; experiment; fast tracking; global asymptotic stability; integral plane; nonlinear system; state adaptation algorithm; state errors; Adaptive control; Control systems; Control theory; Error correction; Manipulators; Nonlinear control systems; Programmable control; Robots; Sliding mode control; Uncertain systems;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.886526
