Adaptive control: stability, convergence, and robustness
Adaptive control: stability, convergence, and robustness
Robust adaptive control
Comparative study of robust saturation-based control of robot manipulators: analysis and experiments
International Journal of Robotics Research
Robot Dynamics and Control
Adaptive Control
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Convergence analysis of teleoperation systems with unsymmetric time-varying delays
IEEE Transactions on Circuits and Systems II: Express Briefs
Adaptive fuzzy output feedback control for robot manipulators
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
An adaptive output feedback controller for robot arms: stability and experiments
Automatica (Journal of IFAC)
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In this work, a novel hybrid control strategy is proposed for robust trajectory tracking control of robotic systems. The main interest of using hybrid design is to reduce the controller gains so as to reduce control efforts from the single model certainty equivalence principle-based adaptive controllers. For this purpose, we allow the parameter estimate of conventional adaptive control design to be switched into a model that best approximates the plant among a finite set of models. First, we uniformly divide the compact set of unknown parameters into a finite number of smaller compact subsets. Then we construct a finite set of candidate controller for each of these smaller compact subsets. The derivative of the Lyapunov function candidate is employed to identify a controller that closely approximates the plant at each instant of time. The idea of introducing hybrid approach in adaptive control framework is to achieve good transient tracking performance with smaller values of controller gains in the presence of large-scale parametric uncertainties. The proposed method is implemented and evaluated on two 3 degree-of-freedom Phantom Premimum™ 1.5 telerobotic systems to demonstrate the effectiveness of the theoretical development.