AustralieFrV1, PascalFrancis, Curation, bibRecord, 002A95

Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators

Identifieur interne : 002A95 ( PascalFrancis/Curation ); précédent : 002A94; suivant : 002A96

Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators

Auteurs : N. V. Q. Hung [Japon] ; H. D. Tuan [Australie] ; T. Narikiyo [Japon] ; P. Apkarian [France]

Source :

IEEE transactions on control systems technology [ 1063-6536 ] ; 2008.

RBID : Pascal:08-0277113

Descripteurs français

Pascal (Inist)
- Commande adaptative, Système incertain, Synthèse commande, Commande boucle fermée, Commande non linéaire, Robotique, Observateur, Identification système, Commande mouvement, Estimation paramètre, Manipulateur, Dimensionnement, Frottement, Mécanisme plan.
Wicri :
- topic : Robotique, Observateur.

English descriptors

KwdEn :
- Adaptive control, Closed feedback, Control synthesis, Dimensioning, Friction, Manipulator, Motion control, Non linear control, Observer, Parameter estimation, Planar mechanism, Robotics, System identification, Uncertain system.

Abstract

-In this brief, a new adaptive control framework to compensate for uncertain nonlinear parameters in robot manipulators is developed. The designed adaptive controllers possess a linear parameter structure, guarantee global boundedness of the closed-loop system as well as tracking of a given trajectory within any prescribed accuracy. Our design approach takes advantage of a Lipschitzian property with respect to the plant nonlinear parameters. The outcome is that a very broad class of nonlinearly parameterized adaptive control problems for robot manipulators can be solved using this technique. Another feature of the proposed method is the design of low-dimensional estimator, even 1-D if desired, independently of the unknown parameter vector dimension. Simulations and experiments in friction compensation task for low-velocity tracking of a 2 degree-of-freedom planar robot demonstrate the viability of the technique and emphasize its advantages relatively to more classical approaches.

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C03	`06`	`X`	`FRE`	`@0 Robotique @5 11`
C03	`06`	`X`	`ENG`	`@0 Robotics @5 11`
C03	`06`	`X`	`SPA`	`@0 Robótica @5 11`
C03	`07`	`X`	`FRE`	`@0 Observateur @5 12`
C03	`07`	`X`	`ENG`	`@0 Observer @5 12`
C03	`07`	`X`	`SPA`	`@0 Observador @5 12`
C03	`08`	`X`	`FRE`	`@0 Identification système @5 13`
C03	`08`	`X`	`ENG`	`@0 System identification @5 13`
C03	`08`	`X`	`SPA`	`@0 Identificación sistema @5 13`
C03	`09`	`X`	`FRE`	`@0 Commande mouvement @5 14`
C03	`09`	`X`	`ENG`	`@0 Motion control @5 14`
C03	`09`	`X`	`SPA`	`@0 Control movimiento @5 14`
C03	`10`	`X`	`FRE`	`@0 Estimation paramètre @5 15`
C03	`10`	`X`	`ENG`	`@0 Parameter estimation @5 15`
C03	`10`	`X`	`SPA`	`@0 Estimación parámetro @5 15`
C03	`11`	`X`	`FRE`	`@0 Manipulateur @5 18`
C03	`11`	`X`	`ENG`	`@0 Manipulator @5 18`
C03	`11`	`X`	`SPA`	`@0 Manipulador @5 18`
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C03	`12`	`X`	`SPA`	`@0 Dimensionamiento @5 19`
C03	`13`	`X`	`FRE`	`@0 Frottement @5 20`
C03	`13`	`X`	`ENG`	`@0 Friction @5 20`
C03	`13`	`X`	`SPA`	`@0 Frotamiento @5 20`
C03	`14`	`X`	`FRE`	`@0 Mécanisme plan @5 21`
C03	`14`	`X`	`ENG`	`@0 Planar mechanism @5 21`
C03	`14`	`X`	`SPA`	`@0 Mecanismo planar @5 21`
N21				`@1 175`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

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Le document en format XML

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   |texte=   Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators
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	Serveur d'exploration sur les relations entre la France et l'Australie
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Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators

Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators

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