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

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.
Original languageEnglish
Title of host publicationProceedings of the 3rd International Conference on Mechatronics and Robotics Engineering
PublisherAssociation for Computing Machinery
Publication date2017
Pages23-29
ISBN (Electronic)978-1-4503-5280-2
DOIs
Publication statusPublished - 2017
Event3rd International Conference on Mechatronics and Robotics Engineering - Paris, France
Duration: 8. Feb 201712. Feb 2017
Conference number: 3

Conference

Conference3rd International Conference on Mechatronics and Robotics Engineering
Number3
CountryFrance
CityParis
Period08/02/201712/02/2017

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