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

Volume

5

fYear

2000

fDate

2000

Firstpage

3372

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 2000 IEEE International Conference on

Conference_Location

Nashville, TN

ISSN

1062-922X

Print_ISBN

0-7803-6583-6

Type

conf

DOI

10.1109/ICSMC.2000.886526

Filename

886526