标题：Decentralized Adaptive Partitioned Approximation Control of Robotic Manipulators
作者：Al-Shuka H.F.N.; Song R.
作者机构：[Al-Shuka, H.F.N] School of Control Science and Engineering, Shandong University, Jinan, China;[ Song, R] School of Control Science and Engineering, S 更多
通讯作者地址：[Al-Shuka, H.F.N] School of Control Science and Engineering, Shandong UniversityChina;
来源：CISM International Centre for Mechanical Sciences, Courses and Lectures
关键词：Adaptive approximation control; Decentralized control; Orthogonal basis functions
摘要：Partitioned approximation control is avoided in most decentralized control algorithms; however, it is essential to design feedforward control with improved tracking accuracy. As a result, this work is focused on decentralized adaptive partitioned approximation control for complex robotic systems using the orthogonal basis functions as strong approximators. In essence, the partitioned approximation technique is intrinsically decentralized with some modifications. The proposed decentralized control law consists of three terms: the partitioned approximation-based feedforward term that is necessary for precise tracking, the high gain-based feedback term, and the adaptive sliding gain-based term for compensation of modeling error. The passivity property is essential to prove the stability of local stability of the individual subsystem with guaranteed global stability. A two-link robot is simulated to verify the effectiveness of the proposed technique. © 2019, CISM International Centre for Mechanical Sciences.