Globally adaptive decentralized control of robot manipulators
Resource
SICE 2002. Proceedings of the 41st SICE Annual Conference
Journal
SICE 2002
Pages
Proceeding-s
Date Issued
2002-08
Date
2002-08
Author(s)
Hsu, Su-Hau
DOI
N/A
Abstract
In this paper, we develop a new adaptive decentralized controller of robot manipulator for trajectory tracking. With the nonlinear control terms, the closed-loop system is globally stable. Furthermore, the adaptive decentralized controller is considered with a /spl sigma/-modification term such that it becomes robust to the noise in practical implementation. Finally, a numerical study is provided to verify the effectiveness of the proposed scheme.
Type
journal article
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