Output-Feedback Adaptive SP-SD-Type Control with an Extended Continuous Adaptation Algorithm for the Global Regulation of Robot Manipulators with Bounded Inputs

International Journal of Advanced Robotic Systems

关键词: Adaptive Control;    Output Feedback;    Global Regulation;    Saturation;    Robot Manipulators;   

DOI  :  10.5772/54267

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this work, an output-feedback adaptive SP-SD-type control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. Compared with the output-feedback adaptive approaches previously developed in a bounded-input context, the proposed velocity-free feedback controller guarantees the adaptive regulation objective globally (i.e. for any initial condition), avoiding discontinuities throughout the scheme, preventing the inputs from reaching their natural saturation bounds and imposing no saturation-avoidance restrictions on the choice of the P and D control gains. Moreover, through its extended structure, the adaptation algorithm may be configured to evolve either in parallel (independently) or interconnected to the velocity estimation (motion dissipation) auxiliary dynamics, giving an additional degree of design flexibility. Furthermore, the proposed scheme is not restricted to the use of a specific saturation function to achieve the required boundedness, but may inv...

【 授权许可】

CC BY