Title :
Experimental study of anti-windup adaptive tracking control for Euler-Lagrange systems with actuator saturation
Author :
Kanamori, Mitsuru
Author_Institution :
Maizuru Nat. Coll. of Technol., Kyoto, Japan
Abstract :
The anti-windup adaptive law that has been previously proposed is verified by experiments on a two-link robot arm. It is confirmed that windup of the control input is restrained very well by the proposed anti-windup adaptive law and the transitional control performance is improved effectively.
Keywords :
Lyapunov methods; actuators; adaptive control; asymptotic stability; manipulators; numerical analysis; position control; Euler-Lagrange systems; actuator saturation; anti-windup adaptive law; anti-windup adaptive tracking control; control input; transitional control performance; two-link robot arm; Adaptation models; Adaptive systems; Digital signal processing; Elbow;
Conference_Titel :
Robotics, Automation and Mechatronics (RAM), 2013 6th IEEE Conference on
Conference_Location :
Manila
Print_ISBN :
978-1-4799-1198-1
DOI :
10.1109/RAM.2013.6758573
