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Unfalsified adaptive control for manipulators with parameter uncertainties

Author
Arango, J.; Ocampo-Martinez, C.A.; Bianchi, F.; Osorio, G.
Type of activity
Presentation of work at congresses
Name of edition
2nd Colombian Conference on Automatic Control
Date of publication
2015
Presentation's date
2015
Book of congress proceedings
2015 IEEE 2nd Colombian Conference on Automàtic Control (CCAC): conference proceedings: 14-16 October 2015 Manizales, Colombia
First page
1
Last page
6
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/CCAC.2015.7345207 Open in new window
Repository
http://hdl.handle.net/2117/87027 Open in new window
URL
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7345207 Open in new window
Abstract
This work evaluates by simulation the performance of the Unfalsified Adaptive Control (UAC) for Multiple Degree of Freedom (MDoF) serial manipulators. The UAC is a data-driven technique that addresses stability issues of model-based controllers for robot arms with inertial uncertainties. The unfalsified controller selects the most suitable controller from a set, based on performance, to decide whether the controller in the closed loop should be changed, using only system inputs and outputs, i.e....
Citation
Arango, J., Ocampo-Martinez, C.A., Bianchi, F., Osorio, G. Unfalsified adaptive control for manipulators with parameter uncertainties. A: Colombian Conference on Automatic Control. "2015 IEEE 2nd Colombian Conference on Automàtic Control (CCAC): conference proceedings: 14-16 October 2015 Manizales, Colombia". Manizales: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 1-6.
Keywords
control of manipulators, control system synthesis, control theory, robots, uncertainty, unfalsified control
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems

Participants

  • Arango Castro, Jaime Enrique  (author and speaker )
  • Ocampo Martinez, Carlos A.  (author and speaker )
  • Bianchi, Fernando Daniel  (author and speaker )
  • Osorio Londoño, Gustavo Adolfo  (author and speaker )