Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics
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Publication:2989609
DOI10.1109/TAC.2016.2575827zbMATH Open1364.93524DBLPjournals/tac/Wang17arXiv1403.5204OpenAlexW3099523296WikidataQ56421024 ScholiaQ56421024MaRDI QIDQ2989609FDOQ2989609
Authors: Hanlei Wang 
Publication date: 8 June 2017
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Abstract: In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking irrespective of the uncertain kinematics and dynamics. The proposed controllers have the desirable separation property, and we also show that the first adaptive controller with appropriate modifications can yield improved performance, without the expense of conservative gain choice. The performance of the proposed controllers is shown by numerical simulations.
Full work available at URL: https://arxiv.org/abs/1403.5204
Robot dynamics and control of rigid bodies (70E60) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)
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