Robust Adaptive Control of the Dynamic Multilinked Object: Control of Robot Manipulator

Abstract

In article, the problem of the robust adaptive control of the dynamic multilinked object with local reference models is investigated. Exchange of information between local subsystems is thus forbidden and only scalar input and output signals are available to measurement, i.e. completely decentralized control is realized. As an example, the designed algorithm is used for control of the robot manipulator. Results of computer modeling of control of motion of the end of manipulator from one point to another are given. The article describes control of robot manipulator on the closed curve. © Springer International Publishing Switzerland 2015.