Journal
JOURNAL OF VIBRATION AND CONTROL
Volume 24, Issue 23, Pages 5570-5584Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/1077546318758800
Keywords
Taylor series; electrically driven robot manipulators; task-space control; asymptotic convergence; direct adaptive controller
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This paper presents a robust task-space control approach using a direct adaptive Taylor series controller for electrically driven robot manipulators. In an adaptive Taylor series control scheme, the parameters of controller are directly tuned in order to reduce the task-space tracking error in the presence of structured and unstructured uncertainty. Also, the upper bound of approximation error is estimated to form a robustifying term and the asymptotic convergence of task-space tracking error and its time derivative is proven based on the stability analysis. Simulation results are included to verify the effectiveness of the proposed control method.
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