A Simple Adaptive PD Control Scheme for Underactuated Mechanical Manipulators

in Foreign journals(other), 國外期刊(其他)
標題A Simple Adaptive PD Control Scheme for Underactuated Mechanical Manipulators
出版類型國外期刊(其他)
出版年度2017
AuthorsYang, 楊榮華
開始頁37
頁數4
出版日期2014 / 8
其他編號0000
中文摘要

Robot arms have been widely used in the industry for many decades. They have played a very important role in factory automation. However, actuators failure might occur due to unfrequent maintenance or limited life cycle, which could cause severe damages to the operators and products. To solve this problem, an adaptive PD controller incorporated with a nonlinear compensation term is developed. This controller is designed based on conventional PD control scheme combined with adaptive control algorithm. Theoretical proof for the closed-loop dynamic system is given via Lyapunov theorem and La Salle’s theorem. To demonstrate the validity of the controller, a number of computer simulations as well as experiments are also performed.

期刊名稱 International Journal of Engineering and Advanced Technology (IJEAT)
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