Adaptive control of rigid-link electrically driven robots with parametric uncertainties in kinematics and dynamics and without acceleration measurements

被引：4

作者：

Ahmadipour, Mahboubeh ^{[1
]}

Khayatian, Alireza ^{[1
]}

Dehghani, Maryam ^{[1
]}

机构：

[1] Shiraz Univ, Dept Power & Control Engn, Shiraz, Iran

来源：

ROBOTICA | 2014年 / 32卷 / 07期

关键词：

Adaptive control; RLED robot; Uncertain kinematics; Uncertain actuator dynamics; Uncertain manipulator dynamics; Adaptive observer; JACOBIAN TRACKING CONTROL; MANIPULATORS;

D O I：

10.1017/S0263574713001203

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, the backstepping strategy is used to design an adaptive tracking controller for rigid-link electrically driven robots in the presence of parametric uncertainties in kinematics, manipulator dynamics, and actuator dynamics. To avoid acceleration measurements, two techniques are exploited. One technique adds compensation control terms to the control law signal. The other uses a linear in variable property of the Jacobian matrix. Global asymptotic convergence of the end-effector motion tracking errors is shown via Lyapunov analysis. Simulation results are presented to show the effectiveness of the proposed control scheme.

引用

页码：1153 / 1169

页数：17

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