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Decentralized adaptive control of robot manipulators with robust stabilization designDue to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.
Document ID
19880067184
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Yuan, Bau-San
(Georgia Inst. of Tech. Atlanta, GA, United States)
Book, Wayne J.
(Georgia Institute of Technology Atlanta, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Meeting Information
Meeting: 1988 American Control Conference
Location: Atlanta, GA
Country: United States
Start Date: June 15, 1988
End Date: June 17, 1988
Accession Number
88A54411
Funding Number(s)
CONTRACT_GRANT: NAG1-623
Distribution Limits
Public
Copyright
Other

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