Adaptive Control for Revolute Joints Robot Manipulator with Uncertain/Unknown Dynamic Parameters and in Presence of Disturbance in Control Input

Masoud Seyed Sakha, Hamid Reza Shaker

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

This paper presents an effective adaptive controller for revolute joints robot manipulator where the control input is accompanied with a random disturbance (with unknown PSD).

It is clear that, disturbance can compromise the overall performance of the system. To cope with this problem, a control technique is proposed which uses the concept of exponential practical stability. Unlike other counterparts, the proposed method does not need information such as the physical parameters of robot and gravitational acceleration. The results show that the proposed controller achieves an excellent performance clearly seen from the tracking error and its derivatives.
OriginalsprogEngelsk
TitelProceedings of the 3rd International Conference on Mechatronics and Robotics Engineering
ForlagAssociation for Computing Machinery
Publikationsdato2017
Sider23-29
ISBN (Elektronisk)978-1-4503-5280-2
DOI
StatusUdgivet - 2017
Begivenhed3rd International Conference on Mechatronics and Robotics Engineering - Paris, Frankrig
Varighed: 8. feb. 201712. feb. 2017
Konferencens nummer: 3

Konference

Konference3rd International Conference on Mechatronics and Robotics Engineering
Nummer3
LandFrankrig
ByParis
Periode08/02/201712/02/2017

Fingeraftryk

Manipulators
Robots
Controllers
Asymptotic stability
Derivatives

Citer dette

Seyed Sakha, M., & Shaker, H. R. (2017). Adaptive Control for Revolute Joints Robot Manipulator with Uncertain/Unknown Dynamic Parameters and in Presence of Disturbance in Control Input. I Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering (s. 23-29). Association for Computing Machinery. https://doi.org/10.1145/3068796.3068804
Seyed Sakha, Masoud ; Shaker, Hamid Reza. / Adaptive Control for Revolute Joints Robot Manipulator with Uncertain/Unknown Dynamic Parameters and in Presence of Disturbance in Control Input. Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering. Association for Computing Machinery, 2017. s. 23-29
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Seyed Sakha, M & Shaker, HR 2017, Adaptive Control for Revolute Joints Robot Manipulator with Uncertain/Unknown Dynamic Parameters and in Presence of Disturbance in Control Input. i Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering. Association for Computing Machinery, s. 23-29, 3rd International Conference on Mechatronics and Robotics Engineering, Paris, Frankrig, 08/02/2017. https://doi.org/10.1145/3068796.3068804

Adaptive Control for Revolute Joints Robot Manipulator with Uncertain/Unknown Dynamic Parameters and in Presence of Disturbance in Control Input. / Seyed Sakha, Masoud; Shaker, Hamid Reza.

Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering. Association for Computing Machinery, 2017. s. 23-29.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

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Seyed Sakha M, Shaker HR. Adaptive Control for Revolute Joints Robot Manipulator with Uncertain/Unknown Dynamic Parameters and in Presence of Disturbance in Control Input. I Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering. Association for Computing Machinery. 2017. s. 23-29 https://doi.org/10.1145/3068796.3068804