On the observer based real-time adaptive controller for robot manipulators

Author

Gil, Jin-Soo ; Hong, Suk-Kyo

Author_Institution

Dept. of Control & Instrum. Eng., Ajou Univ., Suwon, South Korea

Volume

2

fYear

1996

fDate

5-10 Aug 1996

Firstpage

1264

Abstract

In this paper, we propose a new type of observer based adaptive controller as one of the approaches for controlling the robot manipulators in real-time. In our scheme a regressor, which is the main computation for the existing adaptive controllers, is computed off-line for real-time implementation. With Lyapunov stability theory and by the simulation we show that the proposed controller is asymptotically stable and confirm the validity of the algorithm. The computation time of the proposed scheme is smaller than those of the existing one and its structure is also simple so that it´s useful to implement as a real-time controller

Keywords

Lyapunov methods; adaptive control; asymptotic stability; control system synthesis; controllers; manipulators; observers; real-time systems; state feedback; statistical analysis; Lyapunov stability theory; asymptotically stable controller; observer based real-time adaptive controller; off-line computation; real-time controller; real-time implementation; regressor; robot manipulators; state feedback controller; Adaptive control; Concurrent computing; Control systems; High performance computing; Manipulator dynamics; Position measurement; Programmable control; Real time systems; Robot control; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-2775-6

Type

conf

DOI

10.1109/IECON.1996.566061

Filename

566061