Regular Papers
International Journal of Control, Automation and Systems 2007; 5(6): 718-724
© The International Journal of Control, Automation, and Systems
Control of Rigid Robots Equipped with Brushed DC-Motors as Actuators
We extend the application of an adaptive controller previously introduced in the literature under the assumption that no actuator dynamics exists to the case when the dynamics of the brushed DC-motors used as actuators is not neglected. Convergence to the desired positions is ensured without requiring any feedback to cope with the additional electric dynamics. The proposed control scheme does not require the exact knowledge of neither robot nor actuator parameters to select controller gains.
Keywords Adaptive control, brushed DC-motor actuators, Lyapunov stability, position regulation, robot control.
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Regular Papers
International Journal of Control, Automation and Systems 2007; 5(6): 718-724
Published online December 1, 2007
Copyright © The International Journal of Control, Automation, and Systems.
Control of Rigid Robots Equipped with Brushed DC-Motors as Actuators
Victor M. Hernández-Guzmán, Victor Santibáñez, and Gilberto Herrera
Universidad Autónoma de Querétaro, México
Abstract
We extend the application of an adaptive controller previously introduced in the literature under the assumption that no actuator dynamics exists to the case when the dynamics of the brushed DC-motors used as actuators is not neglected. Convergence to the desired positions is ensured without requiring any feedback to cope with the additional electric dynamics. The proposed control scheme does not require the exact knowledge of neither robot nor actuator parameters to select controller gains.
Keywords: Adaptive control, brushed DC-motor actuators, Lyapunov stability, position regulation, robot control.
Vol. 23, No. 3, pp. 683~972
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