Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier

作     者：Mostafa Bagheri Iasson Karafyllis Peiman Naseradinmousavi Miroslav Krstić Mostafa Bagheri;Iasson Karafyllis;Peiman Naseradinmousavi;Miroslav Krstić

作者机构：the Department of Mechanical and Aerospace EngineeringUniversity of California San Diego and San Diego State UniversityLa JollaCA 92037 USA the Department of MathematicsNational Technical University of AthensAthina 10682Greece the Department of Mechanical EngineeringSan DiegoCA 92182 USA the Department of Mechanical and Aerospace EngineeringUniversity of California San DiegoLa JollaCA 92037 USA 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2021年第8卷第1期

页      面：86-93页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the National Science Foundation under Award#1823951-1823983 

主　　题：Backstepping least-square identifier robot manipulators trigger-based adaptive control 

摘      要：We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled *** manipulators are widely used in telemanipulation systems where they are subject to model and environmental *** conventional control algorithms on such systems can cause not only poor control performance,but also expensive computational costs and catastrophic ***,system uncertainties need to be estimated through designing a computationally efficient adaptive control *** focus on robot manipulators as an example of a highly nonlinear *** a case study,a 2-DOF manipulator subject to four parametric uncertainties is ***,the dynamic equations of the manipulator are derived,and the corresponding regressor matrix is constructed for the unknown *** a general nonlinear system,a theorem is presented to guarantee the asymptotic stability of the system and the convergence of parameters ***,simulation results are discussed for a two-link manipulator,and the performance of the proposed scheme is thoroughly evaluated.