On the adaptive control of robot manipulators with velocity observers
Por:
Arteaga-Perez, Marco A., Ortiz-Espinoza, Alethia, Romero, Jose G., Espinosa-Perez, Gerardo
Publicada:
25 jul 2020
Resumen:
To achieve accurate tracking control of robot manipulators many schemes
have been proposed. A common approach is based on adaptive control
techniques, which guarantee trajectory tracking under the assumption
that the robot model structure is perfectly known and linear in the
unknown parameters, while joint velocities are available. Despite
tracking errors tend to zero, parameter errors do not unless some
persistent excitation condition is fulfilled. There are few works
dealing with velocity observation in conjunction with adaptive laws. In
this note, an adaptive control/observer scheme is proposed for tracking
position of robot manipulators. It is shown that tracking and
observation errors are ultimately bounded, with the characteristic that
when a persistent excitation condition is matched then they, as well as
the parameter errors, tend to zero. Simulation results are in good
agreement with the developed theory.
Filiaciones:
Arteaga-Perez, Marco A.:
Univ Nacl Autonoma Mexico, Dept Control & Robot, DIE, FI, Mexico City 04510, DF, Mexico
Ortiz-Espinoza, Alethia:
Univ Nacl Autonoma Mexico, Dept Control & Robot, DIE, FI, Mexico City 04510, DF, Mexico
Romero, Jose G.:
ITAM, Dept Acad Sistemas Digitales, Div Acad Ingn, Mexico City, DF, Mexico
Espinosa-Perez, Gerardo:
Univ Nacl Autonoma Mexico, Dept Control & Robot, DIE, FI, Mexico City 04510, DF, Mexico
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