Title :
Decentralized adaptive control for robot arm tracking
Author_Institution :
Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Caulfield East, Vic., Australia
Abstract :
We propose a decentralized (or so called independent-joint) adaptive control scheme. The adaptive control is developed based on the passivity and linear-in-parameters properties of the robot motion equation. The proposed scheme, which consists of a PD term, a nonlinear term and an adaptation term, ensures the globally ultimately bounded tracking errors and parameter estimation errors. The practical significance of the scheme lies in the fact that it can be implemented in most robot manipulators without hardware alteration
Keywords :
adaptive control; asymptotic stability; decentralised control; manipulator dynamics; nonlinear control systems; parameter estimation; position control; two-term control; PD term; adaptation term; decentralized adaptive control; globally ultimately bounded tracking errors; independent-joint adaptive control; linear-in-parameters properties; nonlinear term; parameter estimation errors; passivity; robot arm tracking; robot motion equation; Adaptive control; Automatic control; Control systems; Convergence; Distributed control; Error correction; Feedback; Manipulators; Nonlinear equations; Robot control;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614398
