A robust adaptive controller design for manipulators with uncertain dynamics

2002 ◽  
Author(s):  
I.O. Bucak ◽  
F. Gurleyen ◽  
H. Palaz
Keyword(s):  
Controller Design ◽  
Adaptive Controller ◽  
Uncertain Dynamics ◽  
Robust Adaptive ◽  
Robust Adaptive Controller

scholarly journals Neural Networks Approximator Based Robust Adaptive Controller Design of Hypersonic Flight Vehicles Systems Coupled with Stochastic Disturbance and Dynamic Uncertainties

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Guoqiang Zhu ◽  
Lingfang Sun ◽  
Xiuyu Zhang
Keyword(s):  
Controller Design ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Stochastic Disturbance ◽  
Hypersonic Flight ◽  
Flight Vehicles ◽  
Uncertain Dynamics ◽  
Robust Adaptive ◽  
And Performance ◽  
Dynamic Uncertainties

A neural network robust control is proposed for a class of generic hypersonic flight vehicles with uncertain dynamics and stochastic disturbance. Compared with the present schemes of dealing with dynamic uncertainties and stochastic disturbance, the outstanding feature of the proposed scheme is that only one parameter needs to be estimated at each design step, so that the computational burden can be greatly reduced and the designed controller is much simpler. Moreover, by introducing a performance function in controller design, the prespecified transient and performance of tracking error can be guaranteed. It is proved that all signals of closed-loop system are uniformly ultimately bounded. The simulation results are carried out to illustrate effectiveness of the proposed control algorithm.

scholarly journals Robust adaptive controller design for excavator arm

2019 ◽  
Vol 8 (4) ◽  
pp. 293
Author(s):  
Nga Thi-Thuy Vu
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Closed Loop System ◽  
Model Free ◽  
Lagrange Form ◽  
Robust Adaptive ◽  
The Stability ◽  
Robust Adaptive Controller

This paper presents a robust adaptive controller that does not depend on the system parameters for an excavator arm. Firstly, the model of the excavator arm is demonstrated in the Euler-Lagrange form considering with overall excavator system. Next, a robust adaptive controller has been constructed from information of state error. In this paper, the stability of overall system is mathematically proven by using Lyapunov stability theory. Also, the proposed controller is model free then the closed loop system is not affected by disturbances and uncertainties. Finally, the simulation is executed in Matlab/Simulink for both presented scheme and the PD controller under some conditions to ensure that the proposed algorithm given the good performances for all cases.

Robust adaptive controller design for flexible joint manipulators

1992 ◽  
Vol 9 (2) ◽  
pp. 101-112 ◽  
Author(s):  
R.A. Al-Ashoor ◽  
K. Khorasani ◽  
R.V. Patel ◽  
A.J. Al-Khalili
Keyword(s):  
Controller Design ◽  
Adaptive Controller ◽  
Flexible Joint ◽  
Robust Adaptive ◽  
Robust Adaptive Controller
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