In this paper an adaptive multi-priority nonlinear control algorithm for a redundant manipulator system is developed based on the Lyapunov like approach. The method considers the parametric uncertainties in the system and defines a proper filtered error signal to achieve asymptotic stability and convergence in tracking error, both for the main task and sub-tasks according to the allocated priority. The performance of the proposed method is studied by some numerical simulations.
Priority oriented adaptive control of kinematically redundant manipulators / H., Sadeghian; M., Keshmiri; Villani, Luigi; Siciliano, Bruno. - ELETTRONICO. - (2012), pp. 293-298. ( IEEE International Conference on Robotics and Automation St Paul, MN May) [10.1109/ICRA.2012.6224841].
Priority oriented adaptive control of kinematically redundant manipulators
VILLANI, LUIGI;SICILIANO, BRUNO
2012
Abstract
In this paper an adaptive multi-priority nonlinear control algorithm for a redundant manipulator system is developed based on the Lyapunov like approach. The method considers the parametric uncertainties in the system and defines a proper filtered error signal to achieve asymptotic stability and convergence in tracking error, both for the main task and sub-tasks according to the allocated priority. The performance of the proposed method is studied by some numerical simulations.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
