Decentralized adaptive control of a directly driven hydraulic manipulator Part 1: theory

• Type: Article in International Scientific Journal
• Date: 1995

Authors

Edge, KA (Author) Other; Fernando Gomes Almeida (Author) FEUP

Journal

Title: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

Vol. 209

Pages: 191-196

ISSN: 0959-6518

Publisher: SAGE

Indexing

Scopus - 11 Citations

Other information

Authenticus ID: P-00F-NAH

Abstract (EN): A new approach to adaptive control of manipulators is presented in this paper. The proposed controller for each individual axis is of the model reference type, designed through the use of variable structure systems theory. A novel feature of the controller is the introduction of a series-parallel model of the model-following error. The use of this model ensures system stability even if the manipulator design parameters or payload bounds are exceeded. Chattering of the system, associated with variable structure systems, is eliminated by arranging for the control objective to be physically achievable.

Language: English

Type (Professor's evaluation): Scientific