Comments on 'An adaptive control scheme for robot manipulators'

1989 ◽  
Vol 49 (5) ◽  
pp. 1805-1809
Author(s):  
Yong-Duan Song ◽  
Wei-Bing Gao
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Control Scheme ◽  
Adaptive Control Scheme

An adaptive control scheme for robot manipulators

1986 ◽  
Vol 44 (4) ◽  
pp. 1185-1191 ◽  
Author(s):  
Y. K. CHOI ◽  
M. J. CHUNG ◽  
Z. BIEN
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Control Scheme ◽  
Adaptive Control Scheme

A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs

Robotica ◽  
2013 ◽  
Vol 31 (7) ◽  
pp. 1103-1117 ◽  
Author(s):  
D. J. López-Araujo ◽  
A. Zavala-Río ◽  
V. Santibáñez ◽  
F. Reyes
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Experimental Results ◽  
Gravity Compensation ◽  
Adaptive Scheme ◽  
Adaptive Regulation ◽  
Control Scheme ◽  
Bounded Input ◽  
Adaptive Approaches ◽  
Adaptive Control Scheme

SUMMARYIn this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity compensation. Compared with the adaptive approaches previously developed in a bounded-input context, the proposed scheme guarantees the adaptive regulation objective: globally, avoiding discontinuities in the control expression as well as in the adaptation auxiliary dynamics, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Experimental results corroborate the efficiency of the proposed adaptive scheme.

Adaptive Control Scheme for Coupled Tank Process

2018 ◽  
pp. 89-95
Author(s):  
Vinodhini M.
Keyword(s):  
Adaptive Control ◽  
Nonlinear Behaviour ◽  
Simulation Studies ◽  
Input Output ◽  
Control Scheme ◽  
Direct Model ◽  
Multivariable Process ◽  
Model Reference Adaptive ◽  
Siso System ◽  
Adaptive Control Scheme

The objective of this paper is to develop a Direct Model Reference Adaptive Control (DMRAC) algorithm for a MIMO process by extending the MIT rule adopted for a SISO system. The controller thus developed is implemented on Laboratory interacting coupled tank process through simulation. This can be regarded as the relevant process control in petrol and chemical industries. These industries involve controlling the liquid level and the flow rate in the presence of nonlinearity and disturbance which justifies the use of adaptive techniques such as DMRAC control scheme. For this purpose, mathematical models are obtained for each of the input-output combinations using white box approach and the respective controllers are developed. A detailed analysis on the performance of the chosen process with these controllers is carried out. Simulation studies reveal the effectiveness of proposed controller for multivariable process that exhibits nonlinear behaviour.

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