ROBUST ADAPTIVE CONTROL OF MOBILE MANIPULATOR

... guaranty stability of uncertain system that can apply to the manipulators In this paper, a robust control based on the work of [11] was applied to two-wheeled mobile platform and a 6-dof manipulator ... khiển Từ khóa: robust adaptive controller, mobile manipulator REFERENCES [1] T H Bui, T T Nguyen, T L Chung, and Kim Sang Bong, “A Simple Nonlinear Control of a Two-Whe...

Ngày tải lên: 06/04/2015, 10:36

... thesis, robust adaptive control is investigated for uncertain nonlinear systems The main purpose of the thesis is to develop adaptive control strategies for several classes of general nonlinear systems ... witnessed great progress in adaptive control of nonlinear systems due to great demands from industrial applications In this thesis, robust adaptive co...

Ngày tải lên: 17/09/2015, 17:20

... presents the review of the existing adaptive control works as follows: the joint space direct LIP adaptive control, the operational space direct LIP motion control and the original joint space NN ... element of the link mass, three elements of the first moments (by product of the link mass times the coordinates of the center -of- mass), six el...

Ngày tải lên: 14/09/2015, 08:50

... điều khiển thích nghi tối u (Adaptive Control With Optimization - ACO) (2 ) điều khiển thích nghi theo điều kiện giới hạn (Adaptive Control With Constraints - ACC) Hệ ACO điều khiển thông số công ... thờng gặp AC Hình 2: Sơ đồ nguyên lý máy CNC có điều khiển thích nghi Trên hình sơ đồ máy CNC có AC Vùng hệ CNC thông thờng Đó hệ điều khiể...

Ngày tải lên: 10/12/2013, 13:16

... nghị điều khiển thích ứng dùng để điều khiển hệ thống xác định phần ứng dụng vào việc đIều khiển robot di đông hàn hai bánh xe Hệ thống ổn định theo tiêu chuẩn Luapunov Moment quán tính hệ thống ... f () ] (7 ) Nừu luật đIều khiển ảo (virtual control) đạt giá trị = , hệ thống phụ (1 ) ổn định với & = K Đặt z sai số luật đIều khiển...

Ngày tải lên: 10/12/2013, 13:16

... Library Cataloguing in Publication Data Kelly, R Control of robot manipulators in joint space - (Advanced textbooks in control and signal processing) Robots - Control systems Manipulators (Mechanism) ... obtained primarily in terms of the coordinates in the workspace Then, following the socalled method of inverse kinematics one may obtain a time-parameterized t...

Ngày tải lên: 27/06/2014, 14:20

... Juan M Ibarra, Alfonso P´manes, Ilse Cervantes, Jos´ Alvareza e Ram´ ırez, Antoine Chaillet and Marco A Arteaga Special words of thanks go to Ricardo Campa who actively participated in the lab ... clearly identify those variables that are available and that have an in uence on the behavior of the system and more particularly, on its outputs These variables are referred to as in...

Ngày tải lên: 27/06/2014, 18:20

... Approach 9.5.4 Robust APPC: State Feedback Law 9.5.5 Robust LQ Adaptive Control 9.6 Adaptive Control of LTV Plants 9.7 Adaptive Control for Multivariable ... consider the robustness properties of indirect adaptive control in Chapters and The block diagram of an indirect adaptive control scheme is shown in Figure 1.6 In direct adaptive control, the ... minimum-phase...

Ngày tải lên: 27/07/2014, 23:43

... Advanced Textbooks in Control and Signal Processing series ISSN 14 3 9-2 232 ISBN -1 0 : 1- 8 523 3-9 9 4-2 ISBN -1 3 : 97 8 -1 -8 523 3-9 9 4-4 Springer Science+Business Media springeronline.com © Springer-Verlag London ... Library Cataloguing in Publication Data Kelly, R Control of robot manipulators in joint space - (Advanced textbooks in control a...

Ngày tải lên: 09/08/2014, 07:20

... 6.1 Robots without Gravity Term 143 We present next an analysis of PD control for n-DOF robot manipulators The behavior of an n-DOF robot in closed-loop with PD control is determined by combining ... this robot is presented in Section 5.3 .2, and its components are g1 (q) = (m1 lc1 + m2 l1 )g sin(q1 ) + m2 glc2 sin(q1 + q2 ) g2 (q) = m2 glc2 sin(q1 + q2 ) Consider PD cont...

Ngày tải lên: 09/08/2014, 07:20

... references regarding the problem of motion control of robot manipulators see the Introduction of Part II on page 139 10 Computed-torque Control and Computed-torque+ Control In this chapter we ... feedforward control is (robot- ) ‘model-based’ The interest in a controller of this type resides in the advantages that it offers in implementation Indeed, ˙ ¨ having de...

Ngày tải lên: 09/08/2014, 07:20

... of the origin of the closed-loop system, was first solved for one-degree -of- freedom robots (including a term that is quadratic in the velocities) in • Lor´ A., 1996, “Global tracking control of ... promising approach appeared for robot control which is called ‘learning’ This approach is of special interest in the case of paramet- 3 34 14 Introduction to Adaptive Robo...

Ngày tải lên: 09/08/2014, 07:20

... This result is very often used in the literature of motion control of robot manipulators and in general, in the adaptive control literature Lemma A .5 Consider a once continuously differentiable ... − y z w , ♦♦♦ 410 C Proofs of Some Properties of the Dynamic Model Proof of Property 4.3.3 The proof of inequality (4.10) follows invoking Theorem A.3 Since the vector o...

Ngày tải lên: 09/08/2014, 07:20

... Advanced Textbooks in Control and Signal Processing series ISSN 14 3 9-2 232 ISBN -1 0 : 1- 8 523 3-9 9 4-2 ISBN -1 3 : 97 8 -1 -8 523 3-9 9 4-4 Springer Science+Business Media springeronline.com © Springer-Verlag London ... Library Cataloguing in Publication Data Kelly, R Control of robot manipulators in joint space - (Advanced textbooks in contro...

Ngày tải lên: 10/08/2014, 01:23

... variables and time See Chapter  12 What Does Control of Robots” Involve? tailored for linear systems, in robot control In view of this and the present requirements of precision and rapidity of robot ... y corresponds to the ˙ joint position q and velocity q, we refer to the control objectives as “position control in joint coordinates” and “motion cont...

Ngày tải lên: 10/08/2014, 01:23