contributor author | Ngo, Van-Tam | |
contributor author | Liu, Yen-Chen | |
date accessioned | 2024-04-24T22:50:19Z | |
date available | 2024-04-24T22:50:19Z | |
date copyright | 2/26/2024 12:00:00 AM | |
date issued | 2024 | |
identifier issn | 2689-6117 | |
identifier other | aldsc_4_2_021004.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4295963 | |
description abstract | This paper introduces an adaptive control design tailored for robotic systems described by Euler–Lagrange equations under actuator saturation and partial loss of effectiveness. The adaptive law put forth not only retains conventional control properties but also extends its scope to effectively address challenges posed by actuator saturation and partial loss of effectiveness. The framework’s primary focus is on bolstering system robustness, thereby ensuring the achievement of uniformly ultimate bounded tracking errors. The stability and convergence of the system’s behavior are rigorously established through the application of the Lyapunov analysis technique. Moreover, the effectiveness and superiority of the introduced framework are compellingly demonstrated through a series of practical simulations and experimental instances. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Adaptive Tracking Control of Robotic Manipulator Subjected to Actuator Saturation and Partial Loss of Effectiveness | |
type | Journal Paper | |
journal volume | 4 | |
journal issue | 2 | |
journal title | ASME Letters in Dynamic Systems and Control | |
identifier doi | 10.1115/1.4064653 | |
journal fristpage | 21004-1 | |
journal lastpage | 21004-6 | |
page | 6 | |
tree | ASME Letters in Dynamic Systems and Control:;2024:;volume( 004 ):;issue: 002 | |
contenttype | Fulltext | |