Decentralized adaptive control scheme for control of a multi-arm-type robot |
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| Authors: | Y K CHOI Z BIEN |
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| Affiliation: | 1. Department of Electrical Engineering , Pusan National University , Chanjundong Tongraegu, Pusan 607, Korea;2. Department of Electrical Engineering , Korea Advanced Institute of Science and Technology , P.O. Box 150 Cheongyangi, Seoul 131, Korea |
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| Abstract: | This paper deals with the problem of decentralized stabilization for a class of unknown large-scale dynamic systems formed of interconnected subsystems under constant disturbances. A decentralized adaptive control scheme is proposed based on the Lyapunov direct method and a condition of asymptotic stability is derived. Then the decentralized adaptive control scheme is applied for a class of robot manipulators to track the desired trajectory as closely as possible despite a wide range of manipulator motions and parameter uncertainties of links and payload. |
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