Show simple item record

contributor authorNgo, Van-Tam
contributor authorLiu, Yen-Chen
date accessioned2024-04-24T22:50:19Z
date available2024-04-24T22:50:19Z
date copyright2/26/2024 12:00:00 AM
date issued2024
identifier issn2689-6117
identifier otheraldsc_4_2_021004.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4295963
description abstractThis 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.
publisherThe American Society of Mechanical Engineers (ASME)
titleAdaptive Tracking Control of Robotic Manipulator Subjected to Actuator Saturation and Partial Loss of Effectiveness
typeJournal Paper
journal volume4
journal issue2
journal titleASME Letters in Dynamic Systems and Control
identifier doi10.1115/1.4064653
journal fristpage21004-1
journal lastpage21004-6
page6
treeASME Letters in Dynamic Systems and Control:;2024:;volume( 004 ):;issue: 002
contenttypeFulltext


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record