A method for modelling of parameter estimation laws depending on functions for adaptive control of robot manipulators
International Journal of Computer Applications in Technology, cilt.41, ss.205-229, 2011 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 41
- Basım Tarihi: 2011
- Doi Numarası: 10.1504/ijcat.2011.042696
- Dergi Adı: International Journal of Computer Applications in Technology
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Sayfa Sayıları: ss.205-229
- İstanbul Üniversitesi-Cerrahpaşa Adresli: Hayır
Özet
In this paper, first, a new method for modelling of adaptive control laws for controlling robot manipulators is presented. Then, based on the Lyapunov theory, we have proposed five new adaptive control laws thus, stability of uncertain system is guaranteed. Based on previous studies, adaptive control laws are derived from Lyapunov theory using some different functions depending on tracking error, robot inertia and kinematics parameters. This study also shows not only that adaptive controllers cover these derivations but also that it would be possible to derive another parameter adaptive law based on this study providing that appropriate function is chosen. Application to a two-link robotic manipulator is presented. Numerical simulation results are included. Copyright © 2011 Inderscience Enterprises Ltd.