Título

A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs

Autor

DANIELA JUANITA LOPEZ ARAUJO

Arturo Zavala Río

Victor Santibanez

José Fernando Reyes Cortés

Nivel de Acceso

Acceso Abierto

Licencia

http://creativecommons.org/licenses/by-nc-nd/4.0

Identificador alterno

doi: https://doi.org/10.1002/acs.2466

Materias

Adaptive control - (AUTOR) Global tracking - (AUTOR) Bounded inputs - (AUTOR) Robot manipulators - (AUTOR) Saturation - (AUTOR) CIENCIAS FÍSICO MATEMÁTICAS Y CIENCIAS DE LA TIERRA - (CTI) MATEMÁTICAS - (CTI) MATEMÁTICAS - (CTI)

Resumen o descripción

"In this work, a generalized adaptive scheme for the global motion control of robot manipulators with constrained inputs is proposed. It gives rise to various families of bounded adaptive controllers defined through a general class of saturation functions. Compared with adaptive tracking control algorithms previously developed in a bounded input context, the proposed adaptive approach guarantees the motion control objective for any initial condition, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and permitting innovation on the saturating structure through its generalized form, giving a wide range of possibilities for performance improvement. Experimental results corroborate the efficiency of the proposed scheme"

Editor

Wiley

Fecha de publicación

2015

Tipo de publicación

Artículo

Versión de la publicación

Versión aceptada

Recurso de información

http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1737

Formato

application/pdf

Sugerencia de citación

López-Araujo D. J., Zavala-Río A., Santibáñez V. and Reyes F. (2015), A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs, Int. J. Adapt. Control Signal Process., 29, pages 180-200, doi: 10.1002/acs2466

Repositorio Orígen

Repositorio IPICYT

Descargas

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