ADAPTIVE ROBOTIC CONTROL BASED ON A FILTER FUNCTION UNDER THE SATURATION OF ACTUATORS

摘要：

On the fault tolerant control of robotic manipulators under the saturation of actuators, a tracking controller with bounded feedback is designed in this article, which is based on gravity compensation and a filter function. An adaptive controller is presented to compensate the variance of gravity on-line. Both of them are proved to be semi-global asymptotic stable. Simulation results on the two-link robotic manipulators demonstrate the validity of the controllers and the stability of the closed-loop systems.

关键词： Robot control Fault tolerant Actuator saturation Filter function Adaptive

作者: JIN-ZHUANG XIAO HONG-RUI WANG WEI ZHANG HUI-RAN WEI

作者单位: Electric Engineering Institute, Yanshan University, Qinhuangdao 066004, China College of Electric and Information Engineering, Hebei University, Baoding 071002, China

会议类型: 国际会议

会议名称: 2006 International Conference on Machine Learning and Cybernetics(IEEE第五届机器学习与控制论坛)

会议地点: 大连

会议语种:英文

页码: 283-287

在线出版日期: 2006-08-13（万方平台首次上网日期，不代表论文的发表时间）