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http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1782| A generalized scheme for the global adaptive regulation of 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/10.1017/S0263574713000350 | |
| Robot control Adaptive control Global regulation Bounded inputs Saturations | |
| "In this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity compensation. Compared with the adaptive approaches previously developed in a bounded-input context, the proposed scheme guarantees the adaptive regulation objective: globally, avoiding discontinuities in the control expression as well as in the adaptation auxiliary dynamics, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Experimental results corroborate the efficiency of the proposed adaptive scheme." | |
| Cambridge University Press | |
| 2013 | |
| Artículo | |
| López-Araujo, D., Zavala-Río, A., Santibáñez, V., & Reyes, F. (2013). A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs. Robotica, 31(7), 1103-1117. doi:10.1017/S0263574713000350 | |
| MATEMÁTICAS | |
| Versión revisada | |
| submittedVersion - Versión revisada | |
| Aparece en las colecciones: | Publicaciones Científicas Control y Sistemas Dinámicos |
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| Fichero | Tamaño | Formato | |
|---|---|---|---|
| Robotica31(2013)1103.pdf | 1.71 MB | Adobe PDF | Visualizar/Abrir |