Title:
Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design
Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design
dc.contributor.author | Yuan, Bau-San | |
dc.contributor.author | Book, Wayne J. | |
dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
dc.date.accessioned | 2011-06-13T20:32:02Z | |
dc.date.available | 2011-06-13T20:32:02Z | |
dc.date.issued | 1988-06 | |
dc.description | From Proceedings of the 1988 American Control Conference, June 15-17, 1988, Atlanta Georgia, pp. 102-107. | en_US |
dc.description.abstract | Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation. | en_US |
dc.identifier.citation | Yuan, B.S. and W. Book, "Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design,” Proceedings of the 1988 American Control Conference, June 15-17, Atlanta, GA, pp. 102-107. | en_US |
dc.identifier.uri | http://hdl.handle.net/1853/39106 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.publisher.original | American Control Conference | |
dc.subject | Adaptive control | en_US |
dc.subject | Robotic manipulators | en_US |
dc.subject | Dynamic models | en_US |
dc.title | Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design | en_US |
dc.type | Text | |
dc.type.genre | Proceedings | |
dspace.entity.type | Publication | |
local.contributor.author | Book, Wayne J. | |
local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
local.contributor.corporatename | College of Engineering | |
local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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