Abstract
This paper addresses the problem of position tracking control of robot manipulators in the presence of parametric uncertainty and additive periodic disturbances. Specifically, a self tuning, Lyapunovbased adaptive controller with desired dynamics compensation term and a disturbance estimator has been designed to ensure that the link position tracking error converges to zero asymptotically, despite the partially linearly parametrizable robot dynamics. Extensive experimental results are provided to illustrate the viability and performance of the proposed controller.
| Original language | English |
|---|---|
| Pages (from-to) | 48-56 |
| Number of pages | 9 |
| Journal | International Journal of Robotics and Automation |
| Volume | 25 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 9 Mar 2010 |
| Externally published | Yes |
Keywords
- Adaptive self tuning control
- Disturbance estimation
- Model-based control
- Robot manipulators
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Modelling and Simulation
- Mechanical Engineering
- Electrical and Electronic Engineering
- Artificial Intelligence