Adaptive Control of Robot Manipulators

The following sections are included:

• Preface

• Contents

The following sections are included:

• Free space tracking of a rigid robot

• Compliant motion control of a rigid robot

• Consideration of the actuator dynamics

• Consideration of the joint flexibility

• The regressor-free adaptive controller design

• The FAT-based design

• Organization of the book

The following sections are included:

• Introduction

• Vector Spaces
  • Metric space
  • Normed vector space

• Best Approximation Problem in Hilbert Space

• Orthogonal Functions

• Vector and Matrix Analysis
  • Properties of matrices
  • Differential calculus of vectors and matrices

• Various Norms
  • Vector norms
  • Matrix norms
  • Function norms and normed function spaces

• Representations for Approximation

• Lyapunov Stability Theory
  • Concepts of stability
  • Lyapunov stability theorem

• Sliding Control

• Model Reference Adaptive Control (MRAC)
  • MRAC of LTI scalar systems
  • MRAC of LTI systems: vector case
  • Persistent excitation
  • Robust adaptive control

• General Uncertainties
  • MRAC of LTV systems
  • Sliding control for systems with unknown variation bounds

• FAT-Based Adaptive Controller Design

The following sections are included:

• Introduction

• Rigid Robot (RR)

• Rigid Robot Interacting with Environment (RRE)

• Electrically-Driven Rigid Robot (EDRR)

• Electrically-Driven Rigid Robot Interacting with Environment (EDRRE)

• Flexible Joint Robot (FJR)

• Flexible-Joint Robot Interacting with Environment (FJRE)

• Electrically-Driven Flexible Joint Robot (EDFJR)

• Electrically-Driven Flexible-Joint Robot Interacting with Environment (EDFJRE)

• Conclusions

The following sections are included:

• Introduction

• Review of Conventional Adaptive Control for Rigid Robots

• Slotine and Li's Approach

• The Regressor Matrix

• FAT-Based Adaptive Controller Design

• Consideration of Actuator Dynamics
  • Regressor-based adaptive control
  • Regressor-free adaptive control

• Conclusions

The following sections are included:

• Introduction

• Impedance Control and Adaptive Impedance Control

• Regressor-Based Adaptive Impedance Controller Design

• FAT-Based Adaptive Impedance Controller Design

• Consideration of Actuator Dynamics
  • Regressor-based adaptive controller
  • Regressor-free adaptive controller

• Conclusions

The following sections are included:

• Introduction

• Control of Known Flexible-Joint Robots

• Regressor-Based Adaptive Control of Flexible-Joint Robots

• FAT-Based Adaptive Control of Flexible-Joint Robots

• Consideration of Actuator Dynamics
  • Regressor-based adaptive controller design
  • Regressor-free adaptive controller design

• Conclusions

The following sections are included:

• Introduction

• Impedance Control of Known Flexible-Joint Robots

• Regressor-Based Adaptive Impedance Control of Flexible-Joint Robots

• Regressor-Free Adaptive Impedance Control of Flexible-Joint Robots

• Consideration of Actuator Dynamics
  • Regressor-based adaptive controller design
  • Regressor-free adaptive controller design

• Conclusions

The following sections are included:

• Appendix

• References

• Symbols, Definitions and Abbreviations

• Index