Adaptive Control of Robot Manipulators Including Motor Dynamics

1995 ◽  
Vol 209 (3) ◽  
pp. 207-217
Author(s):  
H Yu ◽  
S Lloyd
Keyword(s):  
Adaptive Control ◽  
Control Structure ◽  
Robot Manipulators ◽  
Control Law ◽  
Task Space ◽  
Control Scheme ◽  
Control Schemes ◽  
The Stability ◽  
Adaptive Control Law ◽  
Motor Dynamics

An adaptive control scheme for robot manipulators including motor dynamics is proposed in this paper. The proposed scheme avoids the assumption that the values of motor parameters are known which is required in reference (13). An exponential control law is first developed under the assumption of no uncertainty. This forms a controller structure for the adaptive control. Using this control structure, a full-order adaptive control law is proposed to overcome parameter uncertainty for both robot link and motor. The stability analysis is in the Lyapunov stability sense. The method is further extended to the task space. Extensive simulations are performed to compare the different control schemes.

Design of an adaptive control law using trigonometric functions for robot manipulators

Robotica ◽  
2005 ◽  
Vol 23 (1) ◽  
pp. 93-99 ◽  
Author(s):  
Recep Burkan
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Tracking Error ◽  
Uncertain System ◽  
Control Law ◽  
Trigonometric Functions ◽  
Feed Forward ◽  
Inertia Parameters ◽  
The Stability ◽  
Adaptive Control Law

In this study, a new approach of adaptive control law for controlling robot manipulators using the Lyapunov based theory is derived, thus the stability of an uncertain system is guaranteed. The control law includes a PD feed forward part and a full dynamics feed forward compensation part with the unknown manipulator and payload parameters. The novelty of the obtained result is that an adaptive control algorithm is developed using trigonometric functions depending on manipulator kinematics, inertia parameters and tracking error, and both system parameters and adaptation gain matrix are updated in time.

Adaptive Control of Uncertain Gun Control System of Tank

2011 ◽  
Vol 88-89 ◽  
pp. 88-92 ◽  
Author(s):  
Lu Juan Shen ◽  
Ye Bao ◽  
Jian Ping Cai
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Gun Control ◽  
Control Law ◽  
Uncertain Parameters ◽  
Simulation Studies ◽  
Closed Loop System ◽  
Control Scheme ◽  
The Stability ◽  
Adaptive Control Law

In this paper, a class of gun control system of tank is considered with uncertain parameters and the backlash-like hysteresis which modeled by a differential equation. An adaptive control law is designed with backstepping technique. Compared to exist results on tank gun control problem , in our control scheme, the effect of backlash hysteresis is considered completely than to be linearized simply and no knowledge is assumed on the uncertain parameters. the stability of closed loop system and the tracking performance can be guaranteed by this control law. Simulation studies show that this controller is effective.

scholarly journals Adaptive Synchronization for Hyperchaotic Liu System

2022 ◽  
Vol 9 ◽  
Author(s):  
Shunjie Li ◽  
Yawen Wu ◽  
Gang Zheng
Keyword(s):  
Adaptive Control ◽  
Lyapunov Stability ◽  
Chaos Synchronization ◽  
Control Design ◽  
Lyapunov Stability Theory ◽  
Adaptive Synchronization ◽  
Control Law ◽  
Control Schemes ◽  
Liu System ◽  
Adaptive Control Law

In this paper, the adaptive control design is investigated for the chaos synchronization of two identical hyperchaotic Liu systems. First, an adaptive control law with two inputs is proposed based on Lyapunov stability theory. Secondly, two other control schemes are obtained based on a further analysis of the proposed adaptive control law. Finally, numerical simulations are presented to validate the effectiveness and correctness of these results.

Adaptive Control of Robot Manipulators Using a Popov Hyperstability Approach

1995 ◽  
Vol 209 (2) ◽  
pp. 93-100
Author(s):  
H Yu
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Adaptive Controller ◽  
Control Law ◽  
Control Laws ◽  
Performance Simulation ◽  
Control Approach ◽  
Adaptive Parameters ◽  
Hyperstability Theory ◽  
Adaptive Control Law

A general adaptive control approach of robot manipulators using Popov hyperstability is proposed in this paper. The manipulator adaptive control problem is first formulated in a form suitable for the application of hyperstability theory. The adaptive control law is general, and most of the adaptive control laws that have been proposed are special forms of this adaptive control law. The adaptive controller takes advantage of the flexibility in the choice of the adaptive parameters and the controller structure. The adaptive controller guarantees globally asymptotic stability in the hyperstability sense. For input disturbances, the control law, with little modification, maintains satisfactory system performance. Simulation results are presented to evaluate the performance of the adaptive controller for a two link manipulator.

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.

scholarly journals On a generalized SVEIR epidemic model under regular and adaptive impulsive vaccination

2014 ◽  
Vol 19 (1) ◽  
pp. 83-108 ◽  
Author(s):  
Raul Nistal ◽  
Manuel De la Sen ◽  
Santiago Alonso-Quesada ◽  
Asier Ibeas
Keyword(s):  
Adaptive Control ◽  
Periodic Solutions ◽  
Epidemic Model ◽  
Vaccination Strategy ◽  
Control Law ◽  
The Stability ◽  
Impulsive Vaccination ◽  
Adaptive Control Law ◽  
Over Time ◽  
Partial Immunity

A model for a generic disease with incubation and recovered stages is proposed. It incorporates a vaccinated subpopulation which presents a partial immunity to the disease. We study the stability, periodic solutions and impulsive vaccination design in the generalized modeled system for the dynamics and spreading of the disease under impulsive and non-impulsive vaccination. First, the effect of a regular impulsive vaccination on the evolution of the subpopulations is studied. Later a non-regular impulsive vaccination strategy is introduced based on an adaptive control law for the frequency and quantity of applied vaccines. We show the later strategy improves drastically the efficiency of the vaccines and reduce the infectious subpopulation more rapidly over time compared to a regular impulsive vaccination with constant values for both the frequency and vaccines quantity.

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