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Switched adaptive tracking control of robot manipulators with friction and changing loads. (English) Zbl 1312.93074

Summary: A switched adaptive controller is designed for robot manipulators with friction and changing loads. The nonlinear friction is depicted by a nonlinear friction model, and a switched nonlinear system is used to model the parameter jump caused by load change. Hyperstability theory is used in the designing procedure, which provides more options for adaptive laws than Lyapunov theory. In the presence of friction and changing loads, asymptotic tracking is achieved under arbitrary switching, which is not able to accomplish by a non-switched adaptive controller. The proposed method is validated by a simulation of a 2-degree of freedom manipulator.

MSC:

93C85 Automated systems (robots, etc.) in control theory
93C40 Adaptive control/observation systems
93C30 Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems)
93C10 Nonlinear systems in control theory
93D99 Stability of control systems
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