Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497

Authors

  • Nardênio Almeida Martins UEM Author
  • Maycol de Alencar UEM Author

DOI:

https://doi.org/10.4025/actascitechnol.v27i1.1497

Keywords:

controle adaptativo e robusto, espaço de juntas, robô manipulador

Abstract

This article presents a robust and adaptive control design for robot manipulators in joint space coordinates. A new composite adaptive control law, which contains a robust additional term and which uses the prediction error and the tracking errors to drive parameter estimation, is based on passivity and on Lyapunov direct method. It is shown that global stability and convergence can be achieved for the robust and adaptive control algorithm. Numerical simulations are provided to demonstrate the performance and the robustness of the proposed algorithm

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Author Biography

  • Nardênio Almeida Martins, UEM
    possui graduação em Engenharia Elétrica Industrial pelo Instituto Católico de Minas Gerais (1994) , mestrado em Engenharia Elétrica pela Universidade Federal de Santa Catarina (1997) e curso-tecnico-profissionalizante em Técnico Em Metalurgia pelo Colégio Técnico Industrial de Metalurgia da Esc de Form Prof da Acesita (1986) . Atualmente é Professor não-titular assistente B da Universidade Estadual de Maringá. Tem experiência na área de Engenharia Elétrica , com ênfase em Controle Automação e Microinformática Industrial. Atuando principalmente nos seguintes temas: Controle Adaptativo, Robô Manipulador, Seguimento de Trajetória, Espaço de Juntas, Controle Cinemático e Espaço da Tarefa Currí­culo Lattes

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Published

2008-03-27

Issue

Vol. 27 No. 1 (2005)

Section

Informatics

License

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I Declare that current article is original and has not been submitted for publication, in part or in whole, to any other national or international journal. 

The copyrights belong exclusively to the authors. Published content is licensed under Creative Commons Attribution 4.0 (CC BY 4.0) guidelines, which allows sharing (copy and distribution of the material in any medium or format) and adaptation (remix, transform, and build upon the material) for any purpose, even commercially, under the terms of attribution.

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How to Cite

Martins, N. A., & Alencar, M. de. (2008). Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497. Acta Scientiarum. Technology, 27(1), 43-49. https://doi.org/10.4025/actascitechnol.v27i1.1497

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