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Adaptive Control Of Robot Manipulators : A Unified Regressor-free Approach - An-Chyau Huang

Adaptive Control Of Robot Manipulators

A Unified Regressor-free Approach

Hardcover Published: 9th April 2010
ISBN: 9789814307413
Number Of Pages: 276

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This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.

Prefacep. vii
Introductionp. 1
Preliminariesp. 11
Introductionp. 11
Vector Spacesp. 11
Metric spacep. 13
Normed vector spacep. 14
Best Approximation Problem in Hilbert Spacep. 15
Orthogonal Functionsp. 17
Vector and Matrix Analysisp. 24
Properties of matricesp. 24
Differential calculus of vectors and matricesp. 26
Various Normsp. 28
Vector normsp. 28
Matrix normsp. 29
Function norms and normed function spacesp. 30
Representations for Approximationp. 31
Lyapunov Stability Theoryp. 35
Concepts of stabilityp. 35
Lyapunov stability theoremp. 37
Sliding Controlp. 39
Model Reference Adaptive Controlp. 45
MRAC of LTI scalar systemsp. 45
MRAC of LTI systems: vector casep. 48
Persistent excitationp. 50
Robust adaptive controlp. 54
General Uncertaintiesp. 57
MRAC of LTV systemsp. 58
Sliding control for systems with unknown variation boundsp. 59
FAT-Based Adaptive Controller Designp. 61
Dynamic Equations for Robot Manipulatorsp. 71
Introductionp. 71
Rigid Robotp. 71
Rigid Robot Interacting with Environmentp. 73
Electrically-Driven Rigid Robotp. 75
Electrically-Driven Rigid Robot Interacting with Environmentp. 76
Flexible Joint Robotp. 77
Flexible Joint Robot Interacting with Environmentp. 78
Electrically-Driven Flexible Joint Robotp. 79
Electrically-Driven Flexible Joint Robot Interacting with Environmentp. 80
Adaptive Control of Rigid Robotsp. 83
Introductionp. 83
Review of Conventional Adaptive Control for Rigid Robotsp. 85
Slotine and Li's Approachp. 87
The Regressor Matrixp. 89
FAT-Based Adaptive Controller Designp. 91
Consideration of Actuator Dynamicsp. 101
Regressor-based adaptive controlp. 103
Regressor-free adaptive controlp. 105
Adaptive Impedance Control of Rigid Robotsp. 129
Introductionp. 129
Impedance Control and Adaptive Impedance Controlp. 130
Regressor-Based Adaptive Impedance Controller Designp. 134
FAT-Based Adaptive Impedance Controller Designp. 136
Consideration of Actuator Dynamicsp. 146
Regressor-based adaptive controllerp. 147
Regressor-free adaptive controllerp. 148
Adaptive Control of Flexible Joint Robotsp. 163
Introductionp. 163
Control of Known Flexible Joint Robotsp. 164
Regressor-Based Adaptive Control of Flexible Joint Robotsp. 167
FAT-Based Adaptive Control of Flexible Joint Robotsp. 168
Consideration of Actuator Dynamicsp. 181
Regressor-based adaptive controller designp. 184
Regressor-free adaptive controller designp. 186
Adaptive Impedance Control of Flexible Joint Robotsp. 201
Introductionp. 201
Impedance Control of Known Flexible Joint Robotsp. 202
Regressor-Based Adaptive Impedance Control of Flexible Joint Robotsp. 205
Regressor-Free Adaptive Impedance Control of Flexible Joint Robotsp. 207
Consideration of Actuator Dynamicsp. 220
Regressor-based adaptive controller designp. 223
Regressor-free adaptive controller designp. 224
Appendixp. 241
Referencesp. 247
Symbols, Definitions and Abbreviationsp. 257
Indexp. 261
Table of Contents provided by Ingram. All Rights Reserved.

ISBN: 9789814307413
ISBN-10: 9814307416
Audience: Professional
Format: Hardcover
Language: English
Number Of Pages: 276
Published: 9th April 2010
Publisher: World Scientific Publishing Co Pte Ltd
Country of Publication: SG
Dimensions (cm): 22.86 x 15.49  x 2.03
Weight (kg): 0.54