Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique
This paper presents a new adaptive controller based on the Function Approximation Technique (FAT) for a 2 degree of freedom (DOF) robot arm carrying uncertain time-varying payload. The mathematical model of the arm is expressed as the summation of the known and the uncertain terms in deriving the pr...
| Main Authors: | , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
Springer Verlag
2014
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/44837/ http://irep.iium.edu.my/44837/10/44837_Adaptive%20control_complete.pdf http://irep.iium.edu.my/44837/11/44837_Adaptive%20control_SCOPUS.pdf |
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| author | Zainul Azlan, Norsinnira Sayed Jaafar, Syarifah Nurul Syuhada |
| author_facet | Zainul Azlan, Norsinnira Sayed Jaafar, Syarifah Nurul Syuhada |
| author_sort | Zainul Azlan, Norsinnira |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents a new adaptive controller based on the Function Approximation Technique (FAT) for a 2 degree of freedom (DOF) robot arm carrying uncertain time-varying payload. The mathematical model of the arm is expressed as the summation of the known and the uncertain terms in deriving the proposed control law. The time-varying uncertainty is expressed using an FAT expression, which avoids the need of linear parameterization of the mathematical model of the robotic arm. The expression also allows the update law to be easily derived by an appropriate choice of Lyapunov-like function. The stability proof of the controller is described in detail and computer simulation results are presented to demonstrate the effectiveness of the proposed technique. |
| first_indexed | 2025-11-14T16:09:14Z |
| format | Proceeding Paper |
| id | iium-44837 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T16:09:14Z |
| publishDate | 2014 |
| publisher | Springer Verlag |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-448372017-08-22T03:20:51Z http://irep.iium.edu.my/44837/ Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique Zainul Azlan, Norsinnira Sayed Jaafar, Syarifah Nurul Syuhada TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents a new adaptive controller based on the Function Approximation Technique (FAT) for a 2 degree of freedom (DOF) robot arm carrying uncertain time-varying payload. The mathematical model of the arm is expressed as the summation of the known and the uncertain terms in deriving the proposed control law. The time-varying uncertainty is expressed using an FAT expression, which avoids the need of linear parameterization of the mathematical model of the robotic arm. The expression also allows the update law to be easily derived by an appropriate choice of Lyapunov-like function. The stability proof of the controller is described in detail and computer simulation results are presented to demonstrate the effectiveness of the proposed technique. Springer Verlag 2014-10-27 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/44837/10/44837_Adaptive%20control_complete.pdf application/pdf en http://irep.iium.edu.my/44837/11/44837_Adaptive%20control_SCOPUS.pdf Zainul Azlan, Norsinnira and Sayed Jaafar, Syarifah Nurul Syuhada (2014) Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique. In: 6th International Conference on Social Robotics (ICSR 2014), 27th-29th October 2014, Sydney, Australia. http://link.springer.com/chapter/10.1007%2F978-3-319-11973-1_40 10.1007/978-3-319-11973-1_40 |
| spellingShingle | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan, Norsinnira Sayed Jaafar, Syarifah Nurul Syuhada Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique |
| title | Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique |
| title_full | Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique |
| title_fullStr | Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique |
| title_full_unstemmed | Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique |
| title_short | Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique |
| title_sort | adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique |
| topic | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering |
| url | http://irep.iium.edu.my/44837/ http://irep.iium.edu.my/44837/ http://irep.iium.edu.my/44837/ http://irep.iium.edu.my/44837/10/44837_Adaptive%20control_complete.pdf http://irep.iium.edu.my/44837/11/44837_Adaptive%20control_SCOPUS.pdf |