NDLI: Exact Linearization of Nonlinear Manipulator Models using Adaptive Control

Content Provider	IEEE Xplore Digital Library
Author	Menon, Ramesh G. Garg, Devendra P.
Copyright Year	1988
Description	Author affiliation: Graduate Student, Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC 27706 (Menon, Ramesh G.) \|\| Professor, Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC 27706 (Garg, Devendra P.)
Abstract	Exact linearization of robot dynamics using nonlinear feedback requires an accurate knowledge of the robot parameters and payload. These parameters are often not known `a priori.' A Model Reference Adaptive Control system is developed for tracking the unknown or imprecisely known parameters. The values of these parameters are updated in the nonlinear feedback loop, using adaptive control, to achieve exact linearization. The adaptation algorithm is synthesized using Lyapunov stability criterion. Numerical simulation studies are conducted for a prototype three degree-of-freedom manipulator with five unknown parameters. A study of parameter convergence shows the importance of weighting factors in the adaptation law to control interaction between parameters. When multiple parameters are adapted simultaneously, the rate of adaptation of one parameter affects the values of other parameters. This results in mutual parameter compensation to reduce errors between the robot and the reference model. Parameter interaction can be reduced by using high speeds of adaptation within the bounds of stability.
Starting Page	924
Ending Page	929
File Size	516329
Page Count	6
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-06-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Adaptive control Robots Manipulator dynamics Nonlinear dynamical systems Payloads Feedback loop Control system synthesis Lyapunov method Numerical simulation Virtual prototyping
Content Type	Text
Resource Type	Article

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