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Polynomial-Based Robust Adaptive Impedance Control of Electrically Driven Robots
| Content Provider | Scilit |
|---|---|
| Author | Izadbakhsh, Alireza Khorashadizadeh, Saeed |
| Copyright Year | 2020 |
| Description | SUMMARY This paper presents a robust adaptive impedance controller for electrically driven robots using polynomials of degree N as a universal approximator. According to the universal approximation theorem, polynomials of degree N can approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed and proved in this paper. The polynomial coefficients are estimated based on the adaptive law calculated in the stability analysis. A performance evaluation has been carried out to verify satisfactory performance of the controller. Simulation results on a two degree of freedom manipulator have been presented to guarantee its successful implementation. |
| Related Links | https://www.cambridge.org/core/services/aop-cambridge-core/content/view/3F1140E70D73309B18A1221640990BE8/S0263574720001009a.pdf/div-class-title-polynomial-based-robust-adaptive-impedance-control-of-electrically-driven-robots-div.pdf |
| Ending Page | 1201 |
| Page Count | 21 |
| Starting Page | 1181 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574720001009 |
| Journal | Robotica |
| Issue Number | 7 |
| Volume Number | 39 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2021-07-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica Cybernetical Science Impedance Control Robot Manipulator Function Approximation Technique Robust Adaptive Control Universal Approximation Theorem |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
