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Decentralized adaptive control [robot]

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3 Author(s)
Oh, B.J. ; Dept. of Electr. & Comput. Eng., New Mexico Univ., Albuquerque, NM, USA ; Jamshidi, M. ; Seraji, H.

A decentralized adaptive control is proposed to stabilize and track the nonlinear interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of σ, proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988