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Adaptive Control Design and Stability Analysis of Robotic Manipulators

by Bin Wei
Department of Mechanical Engineering, York University, Toronto, ON M3J 1P3, Canada
Actuators 2018, 7(4), 89; https://doi.org/10.3390/act7040089
Received: 9 October 2018 / Revised: 10 December 2018 / Accepted: 11 December 2018 / Published: 14 December 2018
In this paper, the author presents the adaptive control design and stability analysis of robotic manipulators based on two main approaches, i.e., Lyapunov stability theory and hyperstability theory. For the Lyapunov approach, the author presents the adaptive control of a 2-DOF (degrees of freedom) robotic manipulator. Furthermore, the adaptive control technique and Lyapunov theory are subsequently applied to the end-effector motion control and force control, as in most cases, one only considers the motion control (e.g., position control, trajectory tracking). To make the robot interact with humans or the environment, force control must be considered as well to achieve a safe working environment. For the hyperstability approach, a control system is developed through integrating a PID (proportional–integral–derivative) control system and a model reference adaptive control (MRAC) system, and also the convergent behavior and characteristics under the situation of the PID system, model reference adaptive control system, and PID+MRAC control system are compared. View Full-Text
Keywords: adaptive control; stability; Lyapunov; hyperstability; robotic manipulator adaptive control; stability; Lyapunov; hyperstability; robotic manipulator
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Wei, B. Adaptive Control Design and Stability Analysis of Robotic Manipulators. Actuators 2018, 7, 89.

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