Adaptive control of rigid-link electrically driven robots with parametric uncertainties in kinematics and dynamics and without acceleration measurements.
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| Title: | Adaptive control of rigid-link electrically driven robots with parametric uncertainties in kinematics and dynamics and without acceleration measurements. |
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| Authors: | Ahmadipour, Mahboubeh1, Khayatian, Alireza1, Dehghani, Maryam1 |
| Source: | Robotica. Oct2014, Vol. 32 Issue 7, p1153-1169. 17p. |
| Subjects: | Robot kinematics, Tracking control systems, Robot dynamics, Robot control systems, Global asymptotic stability, Stochastic convergence, Adaptive control systems |
| Abstract: | In this paper, the backstepping strategy is used to design an adaptive tracking controller for rigid-link electrically driven robots in the presence of parametric uncertainties in kinematics, manipulator dynamics, and actuator dynamics. To avoid acceleration measurements, two techniques are exploited. One technique adds compensation control terms to the control law signal. The other uses a linear in variable property of the Jacobian matrix. Global asymptotic convergence of the end-effector motion tracking errors is shown via Lyapunov analysis. Simulation results are presented to show the effectiveness of the proposed control scheme. [ABSTRACT FROM AUTHOR] |
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| Database: | Engineering Source |
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