Skip to main content

Combined direct and indirect adaptive control of robot manipulators using multiple models

Buy Article:

$59.35 plus tax (Refund Policy)

Abstract:

A novel methodology is proposed for the adaptive control of rigid robotic manipulators. The proposed method utilizes multiple adaptive models for the identification and control of the manipulator. The present study is an extension of our previous work which utilized an indirect adaptive control approach with multiple models for better transient performance. The proposed scheme uses a composite approach where both prediction and tracking errors are used in a combined direct and indirect adaptive control framework. Simulation results are given to demonstrate the efficient use of the methodology.

Keywords: ADAPTIVE CONTROL OF MANIPULATORS; DIRECT ADAPTIVE CONTROL; INDIRECT; MULTIPLE MODELS

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855306776562242

Publication date: April 1, 2006

tandf/arb/2006/00000020/00000004/art00005
dcterms_title,dcterms_description,pub_keyword
6
5
20
40
5

Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
X
Cookie Policy
ingentaconnect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more