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

• Tipo: Artigo em Revista Científica Internacional
• Data: 1995

Autores

Edge, KA (Autor) Outra; Fernando Gomes Almeida (Autor) FEUP

Revista

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

Vol. 209

Páginas: 191-196

ISSN: 0959-6518

Editora: SAGE

Indexação

Scopus - 11 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica