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Adaptive control of rigid-link electrically driven robots with parametric uncertainties in kinematics and dynamics and without acceleration measurements

Published online by Cambridge University Press:  20 January 2014

Mahboubeh Ahmadipour ,
Alireza Khayatian  and
Maryam Dehghani
Mahboubeh Ahmadipour
Affiliation:
Department of Power and Control Engineering, Shiraz University, Shiraz, Iran
Alireza Khayatian*
Affiliation:
Department of Power and Control Engineering, Shiraz University, Shiraz, Iran
Maryam Dehghani
Affiliation:
Department of Power and Control Engineering, Shiraz University, Shiraz, Iran
*
*Corresponding author. E-mail: khayatia@shirazu.ac.ir
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Summary

In this paper, the backstepping strategy is used to design an adaptive tracking controller for rigid-link electrically driven robots in the presence of parametric uncertainties in kinematics, manipulator dynamics, and actuator dynamics. To avoid acceleration measurements, two techniques are exploited. One technique adds compensation control terms to the control law signal. The other uses a linear in variable property of the Jacobian matrix. Global asymptotic convergence of the end-effector motion tracking errors is shown via Lyapunov analysis. Simulation results are presented to show the effectiveness of the proposed control scheme.

Keywords

Adaptive controlRLED robotUncertain kinematicsUncertain actuator dynamicsUncertain manipulator dynamicsAdaptive observer

Information

Type
Articles
Information
Robotica , Volume 32 , Issue 7 , October 2014 , pp. 1153 - 1169
Copyright
Copyright © Cambridge University Press 2014 

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