Adaptive Backstepping Neural Tracking Control of an Uncertain Robot Manipulator with Dynamic Disturbances

2020 ◽  
Author(s):  
Ravi Prakash ◽  
Kurusetti Vinay Gupta ◽  
Laxmidhar Behera
Keyword(s):  
Tracking Control ◽  
Robot Manipulator ◽  
Adaptive Backstepping ◽  
Uncertain Robot

Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator

2020 ◽  
Author(s):  
Alexander Bertino ◽  
Peiman Naseradinmousavi ◽  
Atul Kelkar
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Computational Efficiency ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Problem Formulation ◽  
Experimental Results ◽  
Model Free ◽  
Trajectory Simulation ◽  
Adaptive Control Strategy

Abstract In this paper, we study the analytical and experimental control of a 7-DOF robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7-DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.

Adaptive PID Switched Tracking Control of Robot Manipulator

2021 ◽  
Author(s):  
Juan Wang ◽  
Qiang Wei ◽  
Quanze Zhao ◽  
Zhi-E Lou
Keyword(s):  
Tracking Control ◽  
Robot Manipulator
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