Title :
Intelligent control of robotic manipulators: a multiple model based approach
Author :
Ciliz, M.K. ; Narendra, Kumpati S.
Author_Institution :
Center for Syst. Sci., Yale Univ., New Haven, CT, USA
Abstract :
The paper presents a novel methodology for the trajectory tracking control of robotic manipulators. The proposed method utilizes multiple models of the manipulator for the identification of its dynamics in an adaptive control frame work. Simulations and experimental test results are also included to demonstrate the improvement in the tracking performance when the proposed methodology is used for different tracking tasks
Keywords :
adaptive control; identification; intelligent control; manipulator dynamics; model reference adaptive control systems; position control; tracking; adaptive control; dynamics; identification; intelligent control; multiple model based control; robotic manipulators; trajectory tracking; Adaptive control; Error correction; Intelligent control; Intelligent robots; Manipulator dynamics; Mobile robots; Orbital robotics; Robot control; Search problems; Testing; Trajectory;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.526251
