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)