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Switched adaptive tracking control of robot manipulators with friction and changing loads

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  • Xia Wang
  • Jun Zhao

Abstract

A switched adaptive controller is designed for robot manipulators with friction and changing loads. The nonlinear friction is depicted by a nonlinear friction model, and a switched nonlinear system is used to model the parameter jump caused by load change. Hyperstability theory is used in the designing procedure, which provides more options for adaptive laws than Lyapunov theory. In the presence of friction and changing loads, asymptotic tracking is achieved under arbitrary switching, which is not able to accomplish by a non-switched adaptive controller. The proposed method is validated by a simulation of a 2 degree of freedom manipulator.

Suggested Citation

  • Xia Wang & Jun Zhao, 2015. "Switched adaptive tracking control of robot manipulators with friction and changing loads," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(6), pages 955-965, April.
    • Handle: RePEc:taf:tsysxx:v:46:y:2015:i:6:p:955-965
    DOI: 10.1080/00207721.2013.801098
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    References listed on IDEAS

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    1. Sofiane Doudou & Farid Khaber, 2012. "Direct adaptive fuzzy control of a class of MIMO non-affine nonlinear systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 43(6), pages 1029-1038.
    2. Dong Wang & Wei Wang & Peng Shi, 2011. "Design on -filtering for discrete-time switched delay systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 42(12), pages 1965-1973.
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    Cited by:

    1. Jidong Wang & Lengxue Zhu & Xiaoping Si, 2017. "Adaptive Neural Tracking Control for Discrete-Time Switched Nonlinear Systems with Dead Zone Inputs," Complexity, Hindawi, vol. 2017, pages 1-8, March.

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