Adaptive controller with exponential constraints for robotic manipulators
A controller is designed to solve the problems associated with the trajectory tracking of a manipulator robot. The structure that contemplates the control is proportional derivative (PD) with the implementation of adaptive gains. A Lyapunov barrier function is used as the law of adaptation of the co...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2023 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/11408 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/11408 |
| Access Level: | acceso abierto |
| Palabra clave: | Exponential Constraint Lyapunov Function Adaptative Proportional Derivative Controller Restricción exponencial Función de Lyapunov Control adaptable proporcional derivativo |
| Sumario: | A controller is designed to solve the problems associated with the trajectory tracking of a manipulator robot. The structure that contemplates the control is proportional derivative (PD) with the implementation of adaptive gains. A Lyapunov barrier function is used as the law of adaptation of the controller gains. This function considers a logarithmic structure and a variable limit or barrier in time through a decreasing exponential function. The designed barrier imposes an exponential decrease in the following error. The designed control is implemented numerically for a two-degree-of-freedom robotic arm model. Also, to observe the advantages of the designed control, it was compared with a classic PD controller. The adaptive PD has a smaller root mean square error than the classical PD. The designed control is tested with different convergence parameters, and the results show how the imposed barrier causes a preset system velocity. |
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