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Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique

Zainul Azlan, Norsinnira and Sayed Jaafar, Syarifah Nurul Syuhada (2014) Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique. In: 6th International Conference on Social Robotics (ICSR 2014), 27th-29th October 2014, Sydney, Australia.

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Abstract

This paper presents a new adaptive controller based on the Function Approximation Technique (FAT) for a 2 degree of freedom (DOF) robot arm carrying uncertain time-varying payload. The mathematical model of the arm is expressed as the summation of the known and the uncertain terms in deriving the proposed control law. The time-varying uncertainty is expressed using an FAT expression, which avoids the need of linear parameterization of the mathematical model of the robotic arm. The expression also allows the update law to be easily derived by an appropriate choice of Lyapunov-like function. The stability proof of the controller is described in detail and computer simulation results are presented to demonstrate the effectiveness of the proposed technique.

Item Type: Conference or Workshop Item (Plenary Papers)
Additional Information: 4494/44837
Uncontrolled Keywords: Robotics; shoe-tying; anthropomorphic; kinematics.
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Norsinnira Zainul Azlan
Date Deposited: 01 Oct 2015 16:01
Last Modified: 22 Aug 2017 11:20
URI: http://irep.iium.edu.my/id/eprint/44837

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