Robustez de um controlador adaptativo proposto à perturbações limitadas - DOI: 10.4025/actascitechnol.v27i1.1497

Nardênio Almeida Martins; Maycol de Alencar

doi:10.4025/actascitechnol.v27i1.1497

Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497

Nardênio Almeida Martins UEM
Maycol de Alencar UEM

DOI: https://doi.org/10.4025/actascitechnol.v27i1.1497

Abstract

This article presents a robust and adaptive control design for robot manipulators in joint space coordinates. A new composite adaptive control law, which contains a robust additional term and which uses the prediction error and the tracking errors to drive parameter estimation, is based on passivity and on Lyapunov direct method. It is shown that global stability and convergence can be achieved for the robust and adaptive control algorithm. Numerical simulations are provided to demonstrate the performance and the robustness of the proposed algorithm

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Author Biography

Nardênio Almeida Martins, UEM

possui graduação em Engenharia Elétrica Industrial pelo Instituto Católico de Minas Gerais (1994) , mestrado em Engenharia Elétrica pela Universidade Federal de Santa Catarina (1997) e curso-tecnico-profissionalizante em Técnico Em Metalurgia pelo Colégio Técnico Industrial de Metalurgia da Esc de Form Prof da Acesita (1986) . Atualmente é Professor não-titular assistente B da Universidade Estadual de Maringá. Tem experiência na área de Engenharia Elétrica , com ênfase em Controle Automação e Microinformática Industrial. Atuando principalmente nos seguintes temas: Controle Adaptativo, Robô Manipulador, Seguimento de Trajetória, Espaço de Juntas, Controle Cinemático e Espaço da Tarefa Currículo Lattes

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Published

2008-03-27

How to Cite

Martins, N. A., & Alencar, M. de. (2008). Robustness of a proposed adaptive controller to limited disturbances - DOI: 10.4025/actascitechnol.v27i1.1497. Acta Scientiarum. Technology, 27(1), 43-49. https://doi.org/10.4025/actascitechnol.v27i1.1497

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Issue

Vol 27 No 1 (2005)

Section

Informatics

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