Decentralized adaptive control scheme for control of a multi-arm-type robot
作者:
Y. K. CHOI,
Z. BIEN,
期刊:
International Journal of Control
(Taylor Available online 1988)
卷期:
Volume 48,
issue 4
页码: 1715-1722
ISSN:0020-7179
年代: 1988
DOI:10.1080/00207178808906275
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
This paper deals with the problem of decentralized stabilization for a class of unknown large-scale dynamic systems formed of interconnected subsystems under constant disturbances. A decentralized adaptive control scheme is proposed based on the Lyapunov direct method and a condition of asymptotic stability is derived. Then the decentralized adaptive control scheme is applied for a class of robot manipulators to track the desired trajectory as closely as possible despite a wide range of manipulator motions and parameter uncertainties of links and payload.
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