To access the full text documents, please follow this link: http://hdl.handle.net/2117/87027

Unfalsified adaptive control for manipulators with parameter uncertainties
Arango Castro, Jaime Enrique; Ocampo-Martínez, Carlos; Bianchi, Fernando Daniel; Osorio Londoño, Gustavo Adolfo
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
This work evaluates by simulation the performance of the Unfalsified Adaptive Control (UAC) for Multiple Degree of Freedom (MDoF) serial manipulators. The UAC is a data-driven technique that addresses stability issues of model-based controllers for robot arms with inertial uncertainties. The unfalsified controller selects the most suitable controller from a set, based on performance, to decide whether the controller in the closed loop should be changed, using only system inputs and outputs, i.e., torques and joint variables of the robotic arm, respectively. In this work, performance and robustness is evaluated by simulation on a 5-DoF manipulator showing the ability of the UAC to accomplish tracking tasks in the presence of inertial parameters disturbances.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
control system synthesis
control theory
robots
unfalsified control
uncertainty
control of manipulators
Classificació INSPEC::Control theory
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
info:eu-repo/semantics/submittedVersion
info:eu-repo/semantics/conferenceObject
Institute of Electrical and Electronics Engineers (IEEE)
         

Show full item record

Related documents

Other documents of the same author

Barreiro Gómez, Julian; Ocampo-Martínez, Carlos; Bianchi, Fernando Daniel; Quijano Silva, Nicanor
Bianchi, Fernando Daniel; Kunusch, Cristian; Ocampo-Martínez, Carlos; Sánchez Peña, Ricardo Salvador
Bianchi, Fernando Daniel; Kunusch, Cristian; Ocampo-Martínez, Carlos; Sánchez Peña, Ricardo Salvador
Bianchi, Fernando Daniel; Ocampo-Martínez, Carlos; Kunusch, Cristian; Sánchez Peña, Ricardo Salvador
Egea Àlvarez, Agustí; Bianchi, Fernando Daniel; Junyent Ferré, Adrià; Gross, Gabriel Igor; Gomis Bellmunt, Oriol
 

Coordination

 

Supporters