Title :
Adaptive Robotic Control Based on a Filter Function Under the Saturation of Actuators
Author :
Xiao, Jin-zhuang ; Wang, Hong-rui ; Zhang, Wei ; Wei, Hui-ran
Author_Institution :
Electr. Eng. Inst., Yanshan Univ., Qinhuangdao
Abstract :
On the fault tolerant control of robotic manipulators under the saturation of actuators, a tracking controller with bounded feedback is designed in this article, which is based on gravity compensation and a filter function. An adaptive controller is presented to compensate the variance of gravity online. Both of them are proved to be semi-global asymptotic stable. Simulation results on the two-link robotic manipulators demonstrate the validity of the controllers and the stability of the closed-loop systems
Keywords :
actuators; asymptotic stability; closed loop systems; control system synthesis; fault tolerance; feedback; filtering theory; manipulators; actuators; adaptive robotic control; closed-loop system; fault tolerant control; feedback; filter function; gravity compensation; robotic manipulator; semiglobal asymptotic stability; tracking controller; Actuators; Adaptive control; Adaptive filters; Fault tolerance; Feedback; Gravity; Manipulators; Programmable control; Robot control; Stability; Actuator saturation; Adaptive; Fault tolerant; Filter function; Robot control;
Conference_Titel :
Machine Learning and Cybernetics, 2006 International Conference on
Conference_Location :
Dalian, China
Print_ISBN :
1-4244-0061-9
DOI :
10.1109/ICMLC.2006.259024
