Switched Adaptive Control for a Class of Robot Manipulators
A switched adaptive control scheme is proposed for robot manipulators to solve the problem caused by the load variation. The parameter jump caused by load changing is treated as the mode switching of the robot manipulator system. A switched controller, that switches synchronously with the system is designed. The update laws are designed in a way that the estimation value unchanged when its corresponding subsystem is inactive. Asymptotic state tracking under arbitrary switching is gained. An example of a two DOF robot arm is presented to validate the proposed method.
Switched nonlinear system Adaptive control State tracking Robot manipulators
NIU Ruishan WANG Xia ZHAO Jun CHEN chao
State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, Liaoning, china 110004
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4974-4978
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）