Research Article Open Access

Adaptive Control of Robotic Manipulators with Improvement of the Transient Behavior Through an Intelligent Supervision of the Free-Design Parameters and the Sampling Period

M. De La Sen, A. Almansa and J.C. Soto

Abstract

An adaptive control scheme for mechanical manipulators proposed. The control loop consists of a network for learning the robot's inverse dynamics and on-line generating the control signal. Some simulation results were provided to evaluate the design. A supervisor was used to improve the performances of the system during the adaptation transients. The supervisor exerts two supervisory actions. The first one consists of updating the free-design adaptive controller parameters so that the value of a quadratic loss function maintained sufficiently small. The second supervisory action consists of an on-line adjustment of the sampling period within an interval centered at its nominal value.

American Journal of Applied Sciences
Volume 4 No. 6, 2007, 346-353

DOI: https://doi.org/10.3844/ajassp.2007.346.353

Submitted On: 15 February 2007 Published On: 30 June 2007

How to Cite: Sen, M. D. L., Almansa, A. & Soto, J. (2007). Adaptive Control of Robotic Manipulators with Improvement of the Transient Behavior Through an Intelligent Supervision of the Free-Design Parameters and the Sampling Period . American Journal of Applied Sciences, 4(6), 346-353. https://doi.org/10.3844/ajassp.2007.346.353

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Keywords

  • Adaptive control
  • adaptation transients
  • supervised adaptive control