Intelligent control of robotic manipulators: a multiple model based approach

The paper presents a novel methodology for the trajectory tracking control of robotic manipulators. The proposed method utilizes multiple models of the manipulator for the identification of its dynamics in an adaptive control frame work. Simulations and experimental test results are also included to demonstrate the improvement in the tracking performance when the proposed methodology is used for different tracking tasks.

Authors

• M. Kemal Ciliz
• Kumpati S. Narendra

Keywords

• Intelligent control
• Intelligent robots
• Manipulator dynamics
• Trajectory
• Robot control
• Adaptive control
• Testing
• Robot Manipulator
• Control Of Robot Manipulators
• Experimental Tests
• Tracking Performance
• Tracking Control
• Tracking Task
• Simulation Results
• Parameter Estimates
• Control Strategy
• Prediction Error
• Adaptive Algorithm
• Parameter Vector
• Direct Control
• Model Identification
• Adaptive Model
• Adaptive Approach
• Tracking Error
• Adaptive Technique
• Indirect Approach
• Adaptive Control Algorithm
• Adaptive Control Scheme
• Torque Vector
• Multiple Framework
• Certainty Equivalent
• Indirect Control
• Task Execution
• Design Matrix