{"title":"基于傅立叶级数的机械臂自适应跟踪控制","authors":"S. Labiod, H. Boubertakh, T. Guerra","doi":"10.1109/ICOSC.2013.6750974","DOIUrl":null,"url":null,"abstract":"This paper presents a Fourier series-based adaptive trajectory tracking controller for uncertain robotic manipulators. The desired trajectories to be tracked are assumed to be smooth and periodic with known period. Fourier series expansion is used to approximate robotic system uncertainties. The Fourier coefficients adaptation law is driven by the identification error and it is obtained from the Lyapunov approach. Simulation results for a two-link robot manipulator are provided to show the effectiveness of the proposed adaptive controller.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"10 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Fourier series-based adaptive tracking control for robot manipulators\",\"authors\":\"S. Labiod, H. Boubertakh, T. Guerra\",\"doi\":\"10.1109/ICOSC.2013.6750974\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a Fourier series-based adaptive trajectory tracking controller for uncertain robotic manipulators. The desired trajectories to be tracked are assumed to be smooth and periodic with known period. Fourier series expansion is used to approximate robotic system uncertainties. The Fourier coefficients adaptation law is driven by the identification error and it is obtained from the Lyapunov approach. Simulation results for a two-link robot manipulator are provided to show the effectiveness of the proposed adaptive controller.\",\"PeriodicalId\":199135,\"journal\":{\"name\":\"3rd International Conference on Systems and Control\",\"volume\":\"10 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"3rd International Conference on Systems and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICOSC.2013.6750974\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"3rd International Conference on Systems and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICOSC.2013.6750974","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Fourier series-based adaptive tracking control for robot manipulators
This paper presents a Fourier series-based adaptive trajectory tracking controller for uncertain robotic manipulators. The desired trajectories to be tracked are assumed to be smooth and periodic with known period. Fourier series expansion is used to approximate robotic system uncertainties. The Fourier coefficients adaptation law is driven by the identification error and it is obtained from the Lyapunov approach. Simulation results for a two-link robot manipulator are provided to show the effectiveness of the proposed adaptive controller.
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