NDLI: Indirect adaptive control for nonlinear robotic systems

Content Provider	IEEE Xplore Digital Library
Author	Yu, J.S. Muller, P.C.
Copyright Year	1994
Description	Author affiliation: Safety Control Eng., Wuppertal Univ., Germany (Yu, J.S.; Muller, P.C.)
Abstract	This paper presents an indirect adaptive control scheme for trajectory tracking of robotic manipulators. For each joint, the system parameters are estimated online using a modified recursive least squares algorithm with data normalization. A variable dead zone is incorporated into this estimation algorithm to limit the effects of interconnections and nonlinear dynamics in the system such that the number of the parameters to be estimated is reduced. The adaptive control law consisting of a pole placement PID controller and a nonlinear feedback is calculated based on current system parameter estimates. The nonlinear dynamics of the system is compensated by the adaptive nonlinear feedback. The proposed adaptive control system is shown to be globally stable and is implemented on a transputer network for motion control of a PUMA 560 robot. The simulation results and the performance of both off-line and online parameter identification are presented.<>
Starting Page	923
Ending Page	928
File Size	528327
Page Count	6
File Format	PDF
ISBN	0780318722
DOI	10.1109/CCA.1993.348213
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-09-13
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Robots Parameter estimation Nonlinear dynamical systems Trajectory Manipulator dynamics Recursive estimation Least squares approximation State feedback Three-term control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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