Title:
Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design
Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design
Authors
Yuan, Bau-San
Book, Wayne J.
Book, Wayne J.
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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.
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1988-06
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