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A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs
Author(s) -
LópezAraujo Daniela J.,
ZavalaRío Arturo,
Santibáñez Víctor,
Reyes Fernando
Publication year - 2015
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2466
Subject(s) - bounded function , control theory (sociology) , adaptive control , classification of discontinuities , scheme (mathematics) , context (archaeology) , tracking (education) , computer science , mathematics , control (management) , artificial intelligence , psychology , mathematical analysis , paleontology , pedagogy , biology
Summary 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. Copyright © 2014 John Wiley & Sons, Ltd.