Adaptive control for manipulators with unknown virtual control coefficients and input nonlinearities
Abstract This paper addresses the adaptive control problem for a one‐link manipulator system driven by a motor with uncertain virtual control coefficients (VCCs) and nonlinearities. The unknown VCCs are composed by the certain and uncertain items, where the first part is decided by the moment of ine...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-07-01
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| Series: | IET Control Theory & Applications |
| Online Access: | https://doi.org/10.1049/cth2.12285 |
| _version_ | 1811242036126285824 |
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| author | Tianyue Zhou Cungen Liu Huanqing Wang Yulong Sun Piming Ma Wensheng Zhang Weihong Zhu |
| author_facet | Tianyue Zhou Cungen Liu Huanqing Wang Yulong Sun Piming Ma Wensheng Zhang Weihong Zhu |
| author_sort | Tianyue Zhou |
| collection | DOAJ |
| description | Abstract This paper addresses the adaptive control problem for a one‐link manipulator system driven by a motor with uncertain virtual control coefficients (VCCs) and nonlinearities. The unknown VCCs are composed by the certain and uncertain items, where the first part is decided by the moment of inertia of the manipulator and another is generated by that of the load. An auxiliary variable and the Nussbaum gain technique are invoked to handle the uncertainties of VCCs and input nonlinearities. Moreover, a finite‐time prescribed performance function is introduced to design the adaptive control scheme for the manipulator system, which guarantees the tracking error converges to a fixed interval in a setting time and all signals in the manipulator system are bounded. |
| first_indexed | 2024-04-12T13:45:50Z |
| format | Article |
| id | doaj.art-8c08fe46932b4dd492e43902bb452c28 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-04-12T13:45:50Z |
| publishDate | 2022-07-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-8c08fe46932b4dd492e43902bb452c282022-12-22T03:30:41ZengWileyIET Control Theory & Applications1751-86441751-86522022-07-0116111063107410.1049/cth2.12285Adaptive control for manipulators with unknown virtual control coefficients and input nonlinearitiesTianyue Zhou0Cungen Liu1Huanqing Wang2Yulong Sun3Piming Ma4Wensheng Zhang5Weihong Zhu6School of Information Science and Engineering Shandong University Qingdao ChinaSchool of Information and Electrical Engineering Shandong Jianzhu University Jinan ChinaDepartment of Mathematics Bohai University Jinzhou ChinaSchool of Information and Electrical Engineering Shandong Jianzhu University Jinan ChinaSchool of Information Science and Engineering Shandong University Qingdao ChinaSchool of Information Science and Engineering Shandong University Qingdao ChinaSchool of Information Science and Engineering Shandong University Qingdao ChinaAbstract This paper addresses the adaptive control problem for a one‐link manipulator system driven by a motor with uncertain virtual control coefficients (VCCs) and nonlinearities. The unknown VCCs are composed by the certain and uncertain items, where the first part is decided by the moment of inertia of the manipulator and another is generated by that of the load. An auxiliary variable and the Nussbaum gain technique are invoked to handle the uncertainties of VCCs and input nonlinearities. Moreover, a finite‐time prescribed performance function is introduced to design the adaptive control scheme for the manipulator system, which guarantees the tracking error converges to a fixed interval in a setting time and all signals in the manipulator system are bounded.https://doi.org/10.1049/cth2.12285 |
| spellingShingle | Tianyue Zhou Cungen Liu Huanqing Wang Yulong Sun Piming Ma Wensheng Zhang Weihong Zhu Adaptive control for manipulators with unknown virtual control coefficients and input nonlinearities IET Control Theory & Applications |
| title | Adaptive control for manipulators with unknown virtual control coefficients and input nonlinearities |
| title_full | Adaptive control for manipulators with unknown virtual control coefficients and input nonlinearities |
| title_fullStr | Adaptive control for manipulators with unknown virtual control coefficients and input nonlinearities |
| title_full_unstemmed | Adaptive control for manipulators with unknown virtual control coefficients and input nonlinearities |
| title_short | Adaptive control for manipulators with unknown virtual control coefficients and input nonlinearities |
| title_sort | adaptive control for manipulators with unknown virtual control coefficients and input nonlinearities |
| url | https://doi.org/10.1049/cth2.12285 |
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