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Adaptive controls for nonlinearly parameterized uncertainties in robot manipulators

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4 Author(s)
Hung, N.V.Q. ; Dept. of Electr. & Comput. Eng., Toyota Technol. Inst., Nagoya, Japan ; Tuan, H.D. ; Narikiyo, T. ; Apkarian, P.

A framework of adaptive controls to compensate for uncertain nonlinear parameters in robot manipulators is developed. The proposed adaptive controllers with a linear parameter-like structure guarantee global boundedness of the overall system and tracking of a given trajectory within any prescribed accuracy. Our design approach takes advantage of a Lipschitzian condition with respect to the nonlinear parameters of the plant dynamics. This allows our approach to solve a very broad class of nonlinearly parameterized adaptive control problems for robot manipulators. Another feature of the proposed method is the design of low-dimensional observers, even one-dimensional, whose dimension is independent of the dimension of unknown parameters. Comparative simulations and experiments confirm the advantages of the proposed adaptive controls for a friction compensation task in low-velocity tracking of a 2 DOF planar robot.

Published in:

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on  (Volume:2 )

Date of Conference:

10-13 Dec. 2002