Design of a robust adaptive control law for robotic manipulators

1994 ◽  
Vol 11 (4) ◽  
pp. 241-255 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Fred E. C. Culick
Keyword(s):  
Adaptive Control ◽  
Robotic Manipulators ◽  
Robust Adaptive Control ◽  
Control Law ◽  
Robust Adaptive ◽  
Adaptive Control Law

Robust Adaptive Control of Mildly Nonlinear Systems With Time Varying Input/Output Delays

2012 ◽  
Author(s):  
James P. Nelson ◽  
Mark J. Balas ◽  
Richard S. Erwin
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Control Law ◽  
Time Varying ◽  
Robust Adaptive ◽  
Input Delays ◽  
Persistent Disturbances ◽  
Adaptive Control Law

Many systems must operate in the presence of delays both internal to the system and in its inputs and outputs. In this paper we present a robustness result for mildly nonlinear systems. We use this result to show that, for small unknown time varying input delays, a simple adaptive controller can produce output regulation to a neighborhood with radius dependent upon the size of an upper bound on the delay. This regulation occurs in the presence of persistent disturbances and the convergence is exponential. We conclude with an example to illustrate the behavior of this adaptive control law.

An Efficient Robust Adaptive Control Law For Robot Manipulators

1996 ◽  
Vol 210 (4) ◽  
pp. 363-372 ◽  
Author(s):  
H Yu ◽  
S Lloyd
Keyword(s):  
Adaptive Control ◽  
Variable Structure ◽  
Robust Adaptive Control ◽  
Control Law ◽  
Computationally Efficient ◽  
Structure Control ◽  
Robust Adaptive ◽  
The Stability ◽  
Adaptive Control Algorithm ◽  
Adaptive Control Law

A computationally efficient robust adaptive control algorithm is proposed in this paper. The regressors are implemented using the desired trajectories to replace the actual trajectories in order to reduce the computational burden. To reduce the disturbance introduced by this replacement, an adaptive variable structure control law is proposed. The proposed adaptive control law results in a system that is robust to bounded input disturbances. A small modification of the control law makes the system robust to more general input disturbances. The stability analysis is in the Lyapunov sense. Simulation results demonstrate the validity of the proposed scheme.

Robust Adaptive Control of Nonlinear Systems With Input/Output Delays

2010 ◽  
Author(s):  
Mark J. Balas ◽  
Suraj Gajendar
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Adaptive Controller ◽  
Output Regulation ◽  
Robust Adaptive Control ◽  
Control Law ◽  
Robust Adaptive ◽  
Input Delays ◽  
Persistent Disturbances ◽  
Adaptive Control Law

Many systems must operate in the presence of delays both internal to the system and in its inputs and outputs. In this paper we present a robustness result for mildly nonlinear systems. We use this result to show that for small unknown input delays, a simple adaptive controller can produce output regulation to a neighborhood with radius dependent upon the size of the delay. This regulation occurs in the presence of persistent disturbances and the convergence is exponential. We conclude with an example to illustrate the behavior of this adaptive control law.

scholarly journals A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control—Application to Robotic Manipulators

Inventions ◽  
2019 ◽  
Vol 4 (3) ◽  
pp. 49
Author(s):  
Bin Wei
Keyword(s):  
Adaptive Control ◽  
Robust Control ◽  
Robotic Manipulators ◽  
Joint Space ◽  
Robust Adaptive Control ◽  
Control Techniques ◽  
Operational Space ◽  
Advanced Control ◽  
Robust Adaptive ◽  
Control Application

A tutorial on robust control, adaptive control, robust adaptive control and adaptive control of robotic manipulators is presented in a systematic manner. Some limitations of the above methods are also illustrated. The relationships between the robust control, adaptive control and robust adaptive control are demonstrated. Basic information on the joint space control, operational space control and force control is also given. This tutorial summarizes the most advanced control techniques currently in use in a very simple manner, and applies to robotic manipulators, which can provide an informative guideline for students who have little knowledge of controls or who want to understand the adaptive control of robotics in a systematic way.

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