Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach
Joint Authors
Song, Ki-Young
Gupta, Madan M.
Homma, Noriyasu
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-02-29
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
Design of an adaptive controller for complex dynamic systems is a big challenge faced by the researchers.
In this paper, we introduce a novel concept of dynamic pole motion (DPM) for the design of an error-based adaptive controller (E-BAC).
The purpose of this novel design approach is to make the system response reasonably fast with no overshoot, where the system may be time varying and nonlinear with only partially known dynamics.
The E-BAC is implanted in a system as a nonlinear controller with two dominant dynamic parameters: the dynamic position feedback and the dynamic velocity feedback.
For illustrating the strength of this new approach, in this paper we give an example of a flexible robot with nonlinear dynamics.
In the design of this feedback adaptive controller, parameters of the controller are designed as a function of the system error.
The position feedback Kp(e,t) and the velocity feedback Kv(e,t) are continuously varying and formulated as a function of the system error e(t).
This approach for formulating the adaptive controller yields a very fast response with no overshoot.
American Psychological Association (APA)
Song, Ki-Young& Gupta, Madan M.& Homma, Noriyasu. 2012. Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach. Journal of Robotics،Vol. 2011, no. 2011, pp.1-9.
https://search.emarefa.net/detail/BIM-493782
Modern Language Association (MLA)
Song, Ki-Young…[et al.]. Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach. Journal of Robotics No. 2011 (2011), pp.1-9.
https://search.emarefa.net/detail/BIM-493782
American Medical Association (AMA)
Song, Ki-Young& Gupta, Madan M.& Homma, Noriyasu. Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach. Journal of Robotics. 2012. Vol. 2011, no. 2011, pp.1-9.
https://search.emarefa.net/detail/BIM-493782
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-493782