Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497

Detalhes bibliográficos
Autor(a) principal: Martins, Nardênio Almeida
Data de Publicação: 2008
Outros Autores: Alencar, Maycol de
Tipo de documento: Artigo
Idioma: por
Título da fonte: Acta scientiarum. Technology (Online)
Texto Completo: http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/1497
Resumo: This article presents a robust and adaptive control design for robot manipulators in joint space coordinates. A new composite adaptive control law, which contains a robust additional term and which uses the prediction error and the tracking errors to drive parameter estimation, is based on passivity and on Lyapunov direct method. It is shown that global stability and convergence can be achieved for the robust and adaptive control algorithm. Numerical simulations are provided to demonstrate the performance and the robustness of the proposed algorithm
id UEM-6_86a09f900be864135820fa6d57033bf3
oai_identifier_str oai:periodicos.uem.br/ojs:article/1497
network_acronym_str UEM-6
network_name_str Acta scientiarum. Technology (Online)
repository_id_str
spelling Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497Robustez de um controlador adaptativo proposto à perturbações limitadas - DOI: 10.4025/actascitechnol.v27i1.1497controle adaptativo e robustoespaço de juntasrobô manipulador3.00.00.00-9 EngenhariasThis article presents a robust and adaptive control design for robot manipulators in joint space coordinates. A new composite adaptive control law, which contains a robust additional term and which uses the prediction error and the tracking errors to drive parameter estimation, is based on passivity and on Lyapunov direct method. It is shown that global stability and convergence can be achieved for the robust and adaptive control algorithm. Numerical simulations are provided to demonstrate the performance and the robustness of the proposed algorithmEste artigo apresenta o projeto de um controlador adaptativo e robusto de robôs manipuladores no espaço de juntas. Uma nova lei de controle adaptativo composta, contendo um termo adicional robusto e que usa o erro de predição e os erros de seguimento para direcionar a estimação de parâmetros é baseada na passividade e no método direto de Lyapunov. A convergência e a estabilidade global são mostradas para o algoritmo de controle adaptativo e robusto. Simulações numéricas são fornecidas para demonstrar o desempenho e a robustez do algoritmo propostoUniversidade Estadual De Maringá2008-03-27info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/149710.4025/actascitechnol.v27i1.1497Acta Scientiarum. Technology; Vol 27 No 1 (2005); 43-49Acta Scientiarum. Technology; v. 27 n. 1 (2005); 43-491806-25631807-8664reponame:Acta scientiarum. Technology (Online)instname:Universidade Estadual de Maringá (UEM)instacron:UEMporhttp://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/1497/855Martins, Nardênio AlmeidaAlencar, Maycol deinfo:eu-repo/semantics/openAccess2024-05-17T13:02:37Zoai:periodicos.uem.br/ojs:article/1497Revistahttps://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/indexPUBhttps://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/oai||actatech@uem.br1807-86641806-2563opendoar:2024-05-17T13:02:37Acta scientiarum. Technology (Online) - Universidade Estadual de Maringá (UEM)false
dc.title.none.fl_str_mv Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497
Robustez de um controlador adaptativo proposto à perturbações limitadas - DOI: 10.4025/actascitechnol.v27i1.1497
title Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497
spellingShingle Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497
Martins, Nardênio Almeida
controle adaptativo e robusto
espaço de juntas
robô manipulador
3.00.00.00-9 Engenharias
title_short Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497
title_full Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497
title_fullStr Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497
title_full_unstemmed Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497
title_sort Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497
author Martins, Nardênio Almeida
author_facet Martins, Nardênio Almeida
Alencar, Maycol de
author_role author
author2 Alencar, Maycol de
author2_role author
dc.contributor.author.fl_str_mv Martins, Nardênio Almeida
Alencar, Maycol de
dc.subject.por.fl_str_mv controle adaptativo e robusto
espaço de juntas
robô manipulador
3.00.00.00-9 Engenharias
topic controle adaptativo e robusto
espaço de juntas
robô manipulador
3.00.00.00-9 Engenharias
description This article presents a robust and adaptive control design for robot manipulators in joint space coordinates. A new composite adaptive control law, which contains a robust additional term and which uses the prediction error and the tracking errors to drive parameter estimation, is based on passivity and on Lyapunov direct method. It is shown that global stability and convergence can be achieved for the robust and adaptive control algorithm. Numerical simulations are provided to demonstrate the performance and the robustness of the proposed algorithm
publishDate 2008
dc.date.none.fl_str_mv 2008-03-27
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/1497
10.4025/actascitechnol.v27i1.1497
url http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/1497
identifier_str_mv 10.4025/actascitechnol.v27i1.1497
dc.language.iso.fl_str_mv por
language por
dc.relation.none.fl_str_mv http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/1497/855
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universidade Estadual De Maringá
publisher.none.fl_str_mv Universidade Estadual De Maringá
dc.source.none.fl_str_mv Acta Scientiarum. Technology; Vol 27 No 1 (2005); 43-49
Acta Scientiarum. Technology; v. 27 n. 1 (2005); 43-49
1806-2563
1807-8664
reponame:Acta scientiarum. Technology (Online)
instname:Universidade Estadual de Maringá (UEM)
instacron:UEM
instname_str Universidade Estadual de Maringá (UEM)
instacron_str UEM
institution UEM
reponame_str Acta scientiarum. Technology (Online)
collection Acta scientiarum. Technology (Online)
repository.name.fl_str_mv Acta scientiarum. Technology (Online) - Universidade Estadual de Maringá (UEM)
repository.mail.fl_str_mv ||actatech@uem.br
_version_ 1799315331945070592

Registros relacionados