DocumentCode
582406
Title
Switched adaptive control for a class of robot manipulators
Author
Ruishan, Niu ; Xia, Wang ; Jun, Zhao ; Chao, Chen
Author_Institution
State Key Lab. of Synthetical Autom. for Process Ind., Northeastern Univ., Shenyang, China
fYear
2012
fDate
25-27 July 2012
Firstpage
4974
Lastpage
4978
Abstract
A switched adaptive control scheme is proposed for robot manipulators to solve the problem caused by the load variation. The parameter jump caused by load changing is treated as the mode switching of the robot manipulator system. A switched controller, that switches synchronously with the system is designed. The update laws are designed in a way that the estimation value unchanged when its corresponding subsystem is inactive. Asymptotic state tracking under arbitrary switching is gained. An example of a two DOF robot arm is presented to validate the proposed method.
Keywords
adaptive control; manipulators; time-varying systems; asymptotic state tracking; load variation; parameter jump; robot manipulator system; switched adaptive control scheme; two DOF robot arm; update laws; Adaptation models; Adaptive control; Manipulator dynamics; Switches; Adaptive control; Robot manipulators; State tracking; Switched nonlinear system;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2012 31st Chinese
Conference_Location
Hefei
ISSN
1934-1768
Print_ISBN
978-1-4673-2581-3
Type
conf
Filename
6390803
Link To Document