| 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 [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)] | |
| 2016 | |
| 4th International Conference on Control, Mechatronics and Automation (ICCMA'16), Barcelona, Spain 2016 | |
| 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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