Adaptive control for robotic manipulators by Dan Zhang, Bin Wei

By Dan Zhang, Bin Wei

The robot mechanism and its controller make a whole process. because the robot mechanism is reconfigured, the keep an eye on process should be tailored as a result. the necessity for the reconfiguration often arises from the altering useful necessities. This publication will specialise in the adaptive regulate of robot manipulators to handle the replaced stipulations. the purpose of the e-book is to summarise and introduce the state of the art applied sciences within the box of adaptive keep an eye on of robot manipulators so that it will increase the methodologies at the adaptive keep watch over of robot manipulators. Advances made long ago a long time are defined within the booklet, together with adaptive keep watch over theories and layout, and alertness of adaptive keep an eye on to robot manipulators.

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Using both models in the optimization problem formulated for MPC would satisfy robustness conditions while optimizing and system performance. The learning process has been shown to improve the performance of MPC by making better dynamic predictions. Indeed, it has been shown that given sufficient excitation the MPC would converge to a performance that would be achieved if the exact model of the plant was known (Aswani et al. 2013). Yan and Wang (Yan and Wang 2014) have also carried out a similar strategy to solve robust model predictive control for nonlinear systems by adopting neural networks not only for model learning but also for solving the optimization problem.

And M. Tomizuka. 1989. Model reference adaptive control and repetitive control for robot manipulators. Robotics and Automation, 1989. Proceedings, 1989 IEEE International Conference on, 3: 1650–1655. Tung, P. , S. -R. Wang and F. -Y. Hong. 2000. Application of MRAC theory for adaptive control of a constrained robot manipulator. International Journal of Machine Tools and Manufacture, 40(14): 2083–2097. Uchiyama, M. 1978. Formation of High-Speed Motion Pattern of a Mechanical Arm by Trial (Japanese Title: 試行による人工の手の高速運動パターンの形成).

C. and M. Tomizuka. 1989. Model reference adaptive control and repetitive control for robot manipulators. Robotics and Automation, 1989. Proceedings, 1989 IEEE International Conference on, 3: 1650–1655. Tung, P. , S. -R. Wang and F. -Y. Hong. 2000. Application of MRAC theory for adaptive control of a constrained robot manipulator. International Journal of Machine Tools and Manufacture, 40(14): 2083–2097. Uchiyama, M. 1978. Formation of High-Speed Motion Pattern of a Mechanical Arm by Trial (Japanese Title: 試行による人工の手の高速運動パターンの形成).

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