Reference : Adaptive Control of Robotic arm with Hysteretic Joint
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/10993/30761
Adaptive Control of Robotic arm with Hysteretic Joint
English
Kannan, Somasundar mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Bezzaoucha, Souad mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Quintanar Guzman, Serket mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Olivares Mendez, Miguel Angel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
2016
International Conference on Control, Mechatronics and Automation (ICCMA'16)
ACM
46-50
Yes
978-1-4503-5213-0
4th International Conference on Control, Mechatronics and Automation (ICCMA'16)
07-12-2016 to 11-12-2016
Barcelona
Spain
[en] Shape Memory Alloy (SMA) Actuator ; Robotic Arm ; Hysteresis ; Adaptive Control
[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.
Researchers ; Professionals ; Students ; General public ; Others
http://hdl.handle.net/10993/30761

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