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.
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 language | English |
|---|---|
| Title of host publication | Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering |
| Publisher | Association for Computing Machinery |
| Publication date | 2017 |
| Pages | 23-29 |
| ISBN (Electronic) | 978-1-4503-5280-2 |
| DOIs | |
| Publication status | Published - 2017 |
| Event | 3rd International Conference on Mechatronics and Robotics Engineering - Paris, France Duration: 8. Feb 2017 → 12. Feb 2017 Conference number: 3 |
Conference
| Conference | 3rd International Conference on Mechatronics and Robotics Engineering |
|---|---|
| Number | 3 |
| Country | France |
| City | Paris |
| Period | 08/02/2017 → 12/02/2017 |