Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier
文献类型：期刊论文
| 作者 | Mostafa Bagheri; Iasson Karafyllis; Peiman Naseradinmousavi; Miroslav Krstić |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2021 |
| 卷号 | 8期号:1页码:86-93 |
| 关键词 | Backstepping least-square identifier robot manipulators trigger-based adaptive control |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2020.1003459 |
| 英文摘要 | We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties. Robot manipulators are widely used in telemanipulation systems where they are subject to model and environmental uncertainties. Using conventional control algorithms on such systems can cause not only poor control performance, but also expensive computational costs and catastrophic instabilities. Therefore, system uncertainties need to be estimated through designing a computationally efficient adaptive control law. We focus on robot manipulators as an example of a highly nonlinear system. As a case study, a 2-DOF manipulator subject to four parametric uncertainties is investigated. First, the dynamic equations of the manipulator are derived, and the corresponding regressor matrix is constructed for the unknown parameters. For a general nonlinear system, a theorem is presented to guarantee the asymptotic stability of the system and the convergence of parameters’ estimations. Finally, simulation results are discussed for a two-link manipulator, and the performance of the proposed scheme is thoroughly evaluated. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/43898]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Mostafa Bagheri,Iasson Karafyllis,Peiman Naseradinmousavi,et al. Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(1):86-93. |
| APA | Mostafa Bagheri,Iasson Karafyllis,Peiman Naseradinmousavi,&Miroslav Krstić.(2021).Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier.IEEE/CAA Journal of Automatica Sinica,8(1),86-93. |
| MLA | Mostafa Bagheri,et al."Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier".IEEE/CAA Journal of Automatica Sinica 8.1(2021):86-93. |
入库方式： OAI收割
来源：自动化研究所
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