https://scholars.lib.ntu.edu.tw/handle/123456789/324025
標題: | A fully adaptive decentralized control of robot manipulators | 作者: | Hsu, Su-Hau LI-CHEN FU |
關鍵字: | Adaptive control; Decentralized control; Robot manipulators | 公開日期: | 2006 | 卷: | 42 | 期: | 10 | 起(迄)頁: | 1761-1767 | 來源出版物: | Automatica | 摘要: | In this paper, we develop a fully adaptive decentralized controller of robot manipulators for trajectory tracking. With high-order and adaptive variable-structure compensations, the proposed scheme makes both position and velocity tracking errors of robot manipulators globally converge to zero asymptotically while allowing all signals in closed-loop systems to be bounded, even without any prior knowledge of robot manipulators. Thus this control scheme is claimed to be fully adaptive. Even when the proposed scheme is modified to avoid the possible chattering in actual implementations, the overall performance will remain appealing. Finally, numerical results are provided to verify the effectiveness of the proposed schemes at the end. © 2006 Elsevier Ltd. All rights reserved. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-33747776123&doi=10.1016%2fj.automatica.2006.05.012&partnerID=40&md5=d487d772f35abf3a9e50f4928c75b20a http://scholars.lib.ntu.edu.tw/handle/123456789/324025 |
ISSN: | 00051098 | DOI: | 10.1016/j.automatica.2006.05.012 | SDG/關鍵字: | Adaptive control systems; Closed loop control systems; Decentralized control; Numerical analysis; Adaptive decentralized controllers; Robot manipulators; Velocity tracking errors; Manipulators |
顯示於: | 資訊工程學系 |
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