TY - GEN
T1 - Review and discussion on model reference adaptive control for mechanical mechanisms
AU - Zhang, Dan
AU - Wei, Bin
N1 - Publisher Copyright:
© Copyright 2017 ASME.
PY - 2017
Y1 - 2017
N2 - Traditional control systems are not able to properly balance out the load variation impact when robotic mechanisms carry and transport a variety of payloads. Adaptive control, particularly the model reference adaptive control (MRAC), is one of the ideal solutions that one can resort to address the mentioned problem. Adaptive control can be categorized into the following, model reference, self-tuning and gain-scheduled. Here, the authors mainly focus on the MRAC category. To the best of the authors' knowledge, not so many recent papers can be found on MRAC for robotic manipulators because robotic manipulators are usually highly nonlinear and coupled systems, and sometimes it is not easy to design a stable MRAC in the robotic systems. This paper reviews and discusses the MRAC that is used in robotic manipulators and some issues of MRAC for robotic manipulators are presented as well. This review is able to give a general guideline for the future research in the MRAC of robotic manipulators.
AB - Traditional control systems are not able to properly balance out the load variation impact when robotic mechanisms carry and transport a variety of payloads. Adaptive control, particularly the model reference adaptive control (MRAC), is one of the ideal solutions that one can resort to address the mentioned problem. Adaptive control can be categorized into the following, model reference, self-tuning and gain-scheduled. Here, the authors mainly focus on the MRAC category. To the best of the authors' knowledge, not so many recent papers can be found on MRAC for robotic manipulators because robotic manipulators are usually highly nonlinear and coupled systems, and sometimes it is not easy to design a stable MRAC in the robotic systems. This paper reviews and discusses the MRAC that is used in robotic manipulators and some issues of MRAC for robotic manipulators are presented as well. This review is able to give a general guideline for the future research in the MRAC of robotic manipulators.
UR - http://www.scopus.com/inward/record.url?scp=85034744928&partnerID=8YFLogxK
U2 - 10.1115/DETC2017-67378
DO - 10.1115/DETC2017-67378
M3 - Conference article published in proceeding or book
AN - SCOPUS:85034744928
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
PB - American Society of Mechanical Engineers(ASME)
T2 - ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
Y2 - 6 August 2017 through 9 August 2017
ER -