Adaptive control of unknown robotic systems cooperating on handling of an unknown object

2015 ◽  
Author(s):  
Esmaeil Mehrabi ◽  
Kasra Esfandiari ◽  
Heidar Ali Talebi ◽  
Mohammad Zareinejad
Keyword(s):  
Adaptive Control ◽  
Robotic Systems ◽  
Unknown Object

Adaptive Control of Robotic Systems

2021 ◽  
pp. 261-280
Author(s):  
Edward Y.L. Gu
Keyword(s):  
Adaptive Control ◽  
Robotic Systems

B-Spline Based Adaptive Control of Shape Memory Alloy Actuated Robotic Systems

2002 ◽  
Author(s):  
Yavuz Eren ◽  
Constantinos Mavroidis ◽  
Jason Nikitczuk
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Large Scale ◽  
Full Range ◽  
Spline Approximation ◽  
Variable Structure ◽  
Robotic Systems ◽  
Integral Control ◽  
B Spline

In this paper we present a novel controller for Shape Memory Alloy (SMA) actuated robotic systems. The new controller, called BAC (B-spline based Adaptive Control), is based on a hybrid combination of gain scheduling, B-spline approximation, variable structure control and integral control. The proposed controller shows excellent positioning accuracy and speed throughout the full range of motion of a SMA actuated robotic system in large-scale applications. To demonstrate the validity of BAC, a novel anthropomorphic SMA Actuated forearm/wrist mechanism is utilized in real-time PC based control experiments. BAC is experimentally compared to PID and integral variable structure controllers and it is shown that its performance is superior.

scholarly journals Dynamic Modularity Approach to Adaptive Control of Robotic Systems With Closed Architecture

2020 ◽  
Vol 65 (6) ◽  
pp. 2760-2767 ◽  
Author(s):  
Hanlei Wang ◽  
Wei Ren ◽  
Chien Chern Cheah ◽  
Yongchun Xie ◽  
Shangke Lyu
Keyword(s):  
Adaptive Control ◽  
Robotic Systems
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