An Adaptive Decentralized Control of a Manipulator

adaptive fuzzy control of a mobile manipulator robot

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

Adaptive Control of a Construction Manipulator

ABSTRACT: The paper describes an advanced control technique that uses a self-adjusting controller. The technique allows changing control parameters of the manipulator according to different technological forces and disturbances acting to the end-effector of the manipulator while performing surface treatment construction operations such as cleaning and polishing. The system is asymptotically sta...

Cerebellar adaptive control of a biomimetic manipulator

We present a learning cerebellar model to control reaching movements of a simulated biomimetic manipulator. The system utilizes the servo mechanism of the spinal re#ex circuitry to allow kinematic control of slow movements while learning predictive dynamic compensation. Key elements of the model are: (1) parallel postural and dynamics controllers; (2) a neural network model explicitly based on ...

Nonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System

This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...

Adaptive manipulator control a case study