A New Recursive Composite Adaptive Controller for Robot Manipulators

In this paper, a new recursive implementation of composite adaptive control for robot manipulators is proposed. We investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form, which, to our knowledge, is the first result...

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Autores principales:	Jianfei Li, Yaobing Wang, Zhiyong Liu, Xin Jing, Chengwei Hu
Formato:	article
Lenguaje:	EN
Publicado:	American Association for the Advancement of Science (AAAS) 2021
Materias:	Motor vehicles. Aeronautics. Astronautics TL1-4050 Astronomy QB1-991
Acceso en línea:	https://doaj.org/article/689aaaf731ba48b8ab60ad157c5faaa5
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id	oai:doaj.org-article:689aaaf731ba48b8ab60ad157c5faaa5
record_format	dspace
spelling	oai:doaj.org-article:689aaaf731ba48b8ab60ad157c5faaa52021-11-08T08:26:29ZA New Recursive Composite Adaptive Controller for Robot Manipulators2692-765910.34133/2021/9801421https://doaj.org/article/689aaaf731ba48b8ab60ad157c5faaa52021-01-01T00:00:00Zhttp://dx.doi.org/10.34133/2021/9801421https://doaj.org/toc/2692-7659In this paper, a new recursive implementation of composite adaptive control for robot manipulators is proposed. We investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form, which, to our knowledge, is the first result on this point in the literature. The proposed algorithm has an amount of computation On, which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree manipulators. The manipulator of the Chinese Space Station is employed as a simulation example, and the results verify the effectiveness of this proposed recursive algorithm.Jianfei LiYaobing WangZhiyong LiuXin JingChengwei HuAmerican Association for the Advancement of Science (AAAS)articleMotor vehicles. Aeronautics. AstronauticsTL1-4050AstronomyQB1-991ENSpace: Science & Technology, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Motor vehicles. Aeronautics. Astronautics TL1-4050 Astronomy QB1-991
spellingShingle	Motor vehicles. Aeronautics. Astronautics TL1-4050 Astronomy QB1-991 Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu A New Recursive Composite Adaptive Controller for Robot Manipulators
description	In this paper, a new recursive implementation of composite adaptive control for robot manipulators is proposed. We investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form, which, to our knowledge, is the first result on this point in the literature. The proposed algorithm has an amount of computation On, which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree manipulators. The manipulator of the Chinese Space Station is employed as a simulation example, and the results verify the effectiveness of this proposed recursive algorithm.
format	article
author	Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu
author_facet	Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu
author_sort	Jianfei Li
title	A New Recursive Composite Adaptive Controller for Robot Manipulators
title_short	A New Recursive Composite Adaptive Controller for Robot Manipulators
title_full	A New Recursive Composite Adaptive Controller for Robot Manipulators
title_fullStr	A New Recursive Composite Adaptive Controller for Robot Manipulators
title_full_unstemmed	A New Recursive Composite Adaptive Controller for Robot Manipulators
title_sort	new recursive composite adaptive controller for robot manipulators
publisher	American Association for the Advancement of Science (AAAS)
publishDate	2021
url	https://doaj.org/article/689aaaf731ba48b8ab60ad157c5faaa5
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A New Recursive Composite Adaptive Controller for Robot Manipulators

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