Title :
Variable structure adaptive cascade control of rigid-link electrically-driven robot manipulators
Author :
Guenther, Raul ; Hsu, Liu
Author_Institution :
Univ. Federal de Sao Carlos, Brazil
Abstract :
This paper addresses the design of adaptive tracking control of rigid-link electrically-driven robot manipulators, in the case of arbitrary uncertain mechanical and electrical parameters of the robot model. A strategy based on cascade central is presented combining an adaptive scheme for rigid-link robot control with a variable-structure control law for actuator control. Global asymptotic stability is ensured and the very satisfactory performance achieved is illustrated by a simulation example
Keywords :
adaptive control; cascade control; control system synthesis; position control; robots; stability; tracking; variable structure systems; actuator control; adaptive tracking control; global asymptotic stability; manipulators; rigid-link electrically-driven robot; robot model; uncertain electrical parameters; uncertain mechanical parameters; variable structure adaptive cascade control; Actuators; Adaptive control; Asymptotic stability; Electric variables control; Manipulator dynamics; Mechanical variables control; Programmable control; Robots; Robust stability; Testing;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325574
