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http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1737| A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs | |
| DANIELA JUANITA LOPEZ ARAUJO Arturo Zavala Río Victor Santibanez José Fernando Reyes Cortés | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| https://doi.org/10.1002/acs.2466 | |
| Adaptive control Global tracking Bounded inputs Robot manipulators Saturation | |
| "In this work, a generalized adaptive scheme for the global motion control of robot manipulators with constrained inputs is proposed. It gives rise to various families of bounded adaptive controllers defined through a general class of saturation functions. Compared with adaptive tracking control algorithms previously developed in a bounded input context, the proposed adaptive approach guarantees the motion control objective for any initial condition, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and permitting innovation on the saturating structure through its generalized form, giving a wide range of possibilities for performance improvement. Experimental results corroborate the efficiency of the proposed scheme" | |
| Wiley | |
| 2015 | |
| Artículo | |
| López-Araujo D. J., Zavala-Río A., Santibáñez V. and Reyes F. (2015), A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs, Int. J. Adapt. Control Signal Process., 29, pages 180-200, doi: 10.1002/acs2466 | |
| MATEMÁTICAS | |
| Versión aceptada | |
| acceptedVersion - Versión aceptada | |
| Aparece en las colecciones: | Publicaciones Científicas Control y Sistemas Dinámicos |
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| Fichero | Tamaño | Formato | |
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| IntJAdaptControlSignalProcess29(2015)180.pdf | 606.73 kB | Adobe PDF | Visualizar/Abrir |