Paper published in a book (Scientific congresses, symposiums and conference proceedings)
Adaptive Control of Robotic arm with Hysteretic Joint
Kannan, Somasundar; Bezzaoucha, Souad; Quintanar Guzman, Serket et al.
2016In 4th International Conference on Control, Mechatronics and Automation (ICCMA'16), Barcelona, Spain 2016
Peer reviewed
 

Files


Full Text
Kannan_ACM_ICCMA16_CMA048.pdf
Author postprint (525.6 kB)
Download

All documents in ORBilu are protected by a user license.

Send to



Details



Keywords :
Shape Memory Alloy (SMA) Actuator; Robotic Arm; Hysteresis; Adaptive Control
Abstract :
[en] This article addresses the problem of control of robotic arm with a hysteretic joint behavior. The mechanical design of the one-degree of freedom robotic arm is presented where the joint is actuated by a Shape Memory Alloy (SMA) wire. The SMA wire based actuation of the joint makes the robotic arm lightweight but at the same time introduces hysteresis type nonlinearities. The nonlinear dynamic model of the robotic arm is introduced and an Adaptive control solution is presented to perform the joint reference tracking in the presence of unknown hysteresis behavior. The Lyapunov stability analysis of the closed loop system is presented and finally proposed adaptive control solution is validated through simulation study on the proposed nonlinear hysteretic robotic arm.
Disciplines :
Mechanical engineering
Electrical & electronics engineering
Author, co-author :
Kannan, Somasundar ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Bezzaoucha, Souad ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Quintanar Guzman, Serket ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Olivares Mendez, Miguel Angel ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Voos, Holger  ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
External co-authors :
no
Language :
English
Title :
Adaptive Control of Robotic arm with Hysteretic Joint
Publication date :
2016
Event name :
4th International Conference on Control, Mechatronics and Automation (ICCMA'16)
Event place :
Barcelona, Spain
Event date :
07-12-2016 to 11-12-2016
Main work title :
4th International Conference on Control, Mechatronics and Automation (ICCMA'16), Barcelona, Spain 2016
Publisher :
ACM
ISBN/EAN :
978-1-4503-5213-0
Pages :
46-50
Peer reviewed :
Peer reviewed
Available on ORBilu :
since 14 April 2017

Statistics


Number of views
165 (6 by Unilu)
Number of downloads
179 (7 by Unilu)

Scopus citations®
 
3
Scopus citations®
without self-citations
0

Bibliography


Similar publications



Contact ORBilu