Zouari et al., 2013 - Google Patents

Adaptive backstepping control for a single-link flexible robot manipulator driven DC motor

Zouari et al., 2013

Document ID
8427256564287594287
Author
Zouari F
Saad K
Benrejeb M
Publication year
Publication venue
2013 International Conference on Control, Decision and Information Technologies (CoDIT)

External Links

Snippet

In this paper, an adaptive backstepping control method is developed for a single-link robotic manipulator coupled to a brushed direct current DC motor with a nonrigid joint. The developed method uses the Lyapunov approach. It guarantees the uniform ultimate …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/32—Automatic controllers electric with inputs from more than one sensing element; with outputs to more than one correcting element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric

Similar Documents

Publication Publication Date Title
Chen et al. RBFNN-based adaptive sliding mode control design for delayed nonlinear multilateral telerobotic system with cooperative manipulation
Chen et al. Dual-stage iterative learning control for MIMO mismatched system with application to robots with joint elasticity
Norrlof An adaptive iterative learning control algorithm with experiments on an industrial robot
Yan et al. A novel robust control method for motion control of uncertain single-link flexible-joint manipulator
Wen et al. Elman fuzzy adaptive control for obstacle avoidance of mobile robots using hybrid force/position incorporation
Park et al. Robust-tracking control for robot manipulator with deadzone and friction using backstepping and RFNN controller
Souzanchi-K et al. Robust impedance control of uncertain mobile manipulators using time-delay compensation
Eom et al. Robust swing-up and balancing control using a nonlinear disturbance observer for the pendubot system with dynamic friction
Bai et al. Adaptive augmented state feedback control for an experimental planar two-link flexible manipulator
Chien et al. Adaptive impedance controller design for flexible-joint electrically-driven robots without computation of the regressor matrix
Zouari et al. Adaptive backstepping control for a single-link flexible robot manipulator driven DC motor
Meghdari et al. Minimum control effort trajectory planning and tracking of the CEDRA brachiation robot
Chen et al. Adaptive robust control based on Moore-Penrose generalized inverse for underactuated mechanical systems
Boscariol et al. Optimal trajectory planning for nonlinear systems: robust and constrained solution
Bicakci On the implementation of fuzzy VMC for an under actuated system
Rahali et al. Fault tolerant control of robot manipulators based on adaptive fuzzy type-2 backstepping in attendance of payload variation
Shibata et al. Null space motion control by PID control considering passivity in redundant manipulator
Cruz et al. Application of robust discontinuous control algorithm for a 5-DOF industrial robotic manipulator in real-time
Mallem et al. Mobile robot trajectory tracking using PID fast terminal sliding mode inverse dynamic Control
Jaiswal et al. Comparison between conventional pid and fuzzy pid supervisor for 3-dof scara type robot manipulator
Sheikhlar et al. Online policy iteration-based tracking control of four wheeled omni-directional robots
Hoang et al. Trajectory tracking control of the nonholonomic mobile robot using torque method and neural network
Shanta et al. Function approximation technique based sliding mode controller adaptive control of robotic arm with time-varying uncertainties
Xu et al. Vibration suppressive control of flexible-joint space manipulators based on Legendre pseudospectral method
Alqaisi et al. Modified fast terminal super-twisting control for uncertain robot manipulators