An adaptive decentralized nonlinear controller for a robot manipulator
is presented in this thesis. Based on the adaptive control schemes designed
by Seraji [18], Dai [30], and Jimenez [31], we redesigned and further
simplified the control algorithm and, as a consequence, we achieved better
path tracking performance.
The proposed adaptive controller is made of a PD feedback controller
which has time varying gains, a feedforward compensator based on the idea
of inverse dynamics, and an auxiliary signal. Due to its adaptive structure,
the controller shows robustness against disturbances and unmodeled
dynamics. In order to ensure asymptotic tracking we select a Lyapunov
function such that the controller forces the negative definiteness of the time
derivative of such a Lyapunov function. To do this, the tracking position and
velocity error are penalized and used as a part of the adaptive control gain.
The main advantages of this scheme are the comparably faster
convergence of tracking error, relatively simpler structure, and smoother
control activity. This controller only requires the position and angular speed
measurement, it does not require any knowledge about the mathematical
model of the robot manipulator. Simulation shows the capacity of this
controller and its robustness against disturbances. / Graduation date: 1993
| Identifer | oai:union.ndltd.org:ORGSU/oai:ir.library.oregonstate.edu:1957/36095 |
| Date | 11 March 1993 |
| Creators | Tagami, Shinsuke |
| Contributors | Magana, Mario E. |
| Source Sets | Oregon State University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis/Dissertation |
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