Composite Adaptive Control for Robot Manipulator Systems

Hongyang Dong; Qinglei Hu; Maruthi R. Akella

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CEAS EuroGNC 2019

Composite Adaptive Control for Robot Manipulator Systems

Hongyang Dong	Beihang University, Beijing, China
Qinglei Hu	Beihang University, Beijing, China
Maruthi R. Akella	The University of Texas at Austin, Austin, TX, USA

Abstract:
This paper presents a new class of adaptive controllers for robot manipulators under parameter uncertainties. The core design structure of this method is the employment of a special adaptive algorithm, in which both instantaneous state data and past measurements (historical data) are introduced into the adaptation process. The main contribution of the overall control scheme is that parameter estimation errors are ensured to exponentially converge to zero subject to the satisfaction of a finite excitation condition, which is a relaxation when compared to the persistent excitation condition that is typically required for these classes of problems regarding parameter convergence. Numerical simulations are illustrated to show the effectiveness of the proposed method.

Keywords: Adaptive control; Nonlinear control; Robotic manipulators

View PDF CEAS-GNC-2019-062

Hongyang Dong, Qinglei Hu, Maruthi R. Akella: Composite Adaptive Control for Robot Manipulator Systems. Proceedings of the 2019 CEAS EuroGNC conference. Milan, Italy. April 2019. CEAS-GNC-2019-062.

BibTeX entry:

@Incollection{CEAS-GNC-2019-062,

    authors = {Dong, Hongyang and Hu, Qinglei and Akella, Maruthi R.},

    title = {Composite Adaptive Control for Robot Manipulator Systems},

    booktitle = {Proceedings of the 2019 {CEAS EuroGNC} conference},

    address = {Milan, Italy},

    month = apr,

    year = {2019},

    note = {CEAS-GNC-2019-062}

}