FAT-Based Robot Adaptive Control with Position Measurements Only

被引：0
|
作者：
Huang, An-Chyau [1 ]
Huang, Chi-Ting [1 ]
机构：
[1] Natl Taiwan Univ Sci & Technol, Dept Mech Engn, Taipei 106, Taiwan
来源：
PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019) | 2019年
关键词：
Robot control; FAT-based adaptive control; Position measurement only; FEEDBACK TRACKING CONTROL; VELOCITY-MEASUREMENTS; MANIPULATORS; ACCURACY; MOTOR;
D O I：
10.1109/ccdc.2019.8833385
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A FAT-based adaptive controller is proposed in this paper for robot manipulators without using velocity measurements. The adaptive strategy is free from the regressor matrix and can effectively tolerate various internal uncertainties in the robot model and external disturbances. To avoid the feedback of the joint velocity, a linear filter is designed so that a pseudo velocity signal can be obtained. Rigorous proof of closed loop stability is provided with the support of the Lyapunov's theory. Simulation cases are given to show its feasibility.
引用
收藏
页码：3516 / 3520
页数：5
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