Abstract
This paper focuses on the study of an adaptive perturbation control which tracks a desired time-based trajectory as close as possible for all times over a wide range of manipulator motion and payloads. The proposed adaptive control is based on the linearized perturbation equations in the vicinity of a nominal trajectory. The controlled system is characterized by feedforward and feedback components which can be computed separately and simultaneously. The feedforward component computes the nominal torques from the Newton-Euler equations of motion to compensate all the interaction forces among the various joints. The feedback component consisting of recursive least-square identification and an optimal adaptive self-tuning control algorithm for the linearized system computes the perturbation torques which reduce the position and velocity errors of the manipulator along the nominal trajectory. A computer simulation study was conducted to evaluate the performance of the proposed adaptive control.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
