An approach to adaptive control of robotic manipulators
type: Item
instance of: scholarly article
title: An approach to adaptive control of robotic manipulators
zbMATH Open document ID: 0585.93004
DOI: 10.1016/0005-1098(85)90038-X
author: N. Kirćanski
author: Miomir Vukobratović
published in: Automatica
publication date: 1985-01-01T00:00:00Z
review text: The paper considers the problem of the decentralized control synthesis for large-scale mechanical systems with uncertain and variable parameters. In particular, the control synthesis for robotic systems with partially unknown parameters is discussed. A manipulator system is viewed as a set of subsystems, each associated to one degree of freedom of the mechanism, and for each subsystem a local stabilizing controller is synthesized. In result, a robust non-adaptive decentralized control algorithm is obtained, stabilizing robots for all allowable variations of the parameters. Another two-stage (indirect) adaptive control algorithm, where the estimation of the robot parameters is performed first and then used for adjusting the coefficients of local regulators, is proposed for the case when the robust non-adaptive control cannot withstand all expected variations of parameters. Both approaches are illustrated by simulation of an industrial robot with unknown payload mass, and some numerical experiences are presented.
Mathematics Subject Classification ID: 93A15
Mathematics Subject Classification ID: 93B40
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 93C35
Mathematics Subject Classification ID: 68U99
zbMATH DE Number: 3939173
zbMATH Keywords: decentralized control synthesis
zbMATH Keywords: robotic systems
zbMATH Keywords: robust non-adaptive decentralized control algorithm
zbMATH Keywords: two-stage (indirect) adaptive control algorithm
reviewed by: Zygmunt Hasiewicz
MaRDI profile type: Publication
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full work available at URL: 0005-1098(85)90038-x
OpenAlex ID: W2048320625
description: scientific article; zbMATH DE number 3939173