Low-cost and high efficiency robust adaptive control of artificial arms

Mengmeng ZHANG; Y. D. SONG

doi:10.1109/CCDC.2012.6244168

Low-cost and high efficiency robust adaptive control of artificial arms

Mengmeng ZHANG
, Y. D. SONG^*

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

Abstract

The problem of the artificial arm control is studied in this paper. Because of its complexity in mechanical structure and analytical model, artificial arm control is non-trivial and the resultant control schemes normally turns out to be quite complicated, demanding heavy computations. In this paper, a structurally simple and computationally inexpensive robust adaptive control is designed and applied to artificial arms. Various nonlinear impacts arisen from coupling nonlinearities and dynamic uncertainties in the model are addressed in control design. Simulation results are presented to show the performance of the robust adaptive control. © 2012 IEEE.

Original language	English
Title of host publication	Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012
Publisher	IEEE
Pages	1062-1066
Number of pages	5
ISBN (Electronic)	9781457720741
ISBN (Print)	9781457720734
DOIs	https://doi.org/10.1109/CCDC.2012.6244168
Publication status	Published - Oct 2012
Externally published	Yes
Event	24th Chinese Control and Decision Conference, CCDC 2012 - Taiyuan, China Duration: 23 May 2012 → 25 May 2012

Conference

Conference	24th Chinese Control and Decision Conference, CCDC 2012
Country/Territory	China
City	Taiyuan
Period	23/05/12 → 25/05/12

Keywords

Artificial arm
Low-cost and High Efficiency
Nonlinear System
Robust Adaptive Control

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10.1109/CCDC.2012.6244168

Cite this

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title = "Low-cost and high efficiency robust adaptive control of artificial arms",

abstract = "The problem of the artificial arm control is studied in this paper. Because of its complexity in mechanical structure and analytical model, artificial arm control is non-trivial and the resultant control schemes normally turns out to be quite complicated, demanding heavy computations. In this paper, a structurally simple and computationally inexpensive robust adaptive control is designed and applied to artificial arms. Various nonlinear impacts arisen from coupling nonlinearities and dynamic uncertainties in the model are addressed in control design. Simulation results are presented to show the performance of the robust adaptive control. {\textcopyright} 2012 IEEE.",

keywords = "Artificial arm, Low-cost and High Efficiency, Nonlinear System, Robust Adaptive Control",

author = "Mengmeng ZHANG and SONG, \{Y. D.\}",

year = "2012",

month = oct,

doi = "10.1109/CCDC.2012.6244168",

language = "English",

isbn = "9781457720734",

pages = "1062--1066",

booktitle = "Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012",

publisher = "IEEE",

note = "24th Chinese Control and Decision Conference, CCDC 2012 ; Conference date: 23-05-2012 Through 25-05-2012",

}

TY - GEN

T1 - Low-cost and high efficiency robust adaptive control of artificial arms

AU - ZHANG, Mengmeng

AU - SONG, Y. D.

PY - 2012/10

Y1 - 2012/10

N2 - The problem of the artificial arm control is studied in this paper. Because of its complexity in mechanical structure and analytical model, artificial arm control is non-trivial and the resultant control schemes normally turns out to be quite complicated, demanding heavy computations. In this paper, a structurally simple and computationally inexpensive robust adaptive control is designed and applied to artificial arms. Various nonlinear impacts arisen from coupling nonlinearities and dynamic uncertainties in the model are addressed in control design. Simulation results are presented to show the performance of the robust adaptive control. © 2012 IEEE.

AB - The problem of the artificial arm control is studied in this paper. Because of its complexity in mechanical structure and analytical model, artificial arm control is non-trivial and the resultant control schemes normally turns out to be quite complicated, demanding heavy computations. In this paper, a structurally simple and computationally inexpensive robust adaptive control is designed and applied to artificial arms. Various nonlinear impacts arisen from coupling nonlinearities and dynamic uncertainties in the model are addressed in control design. Simulation results are presented to show the performance of the robust adaptive control. © 2012 IEEE.

KW - Artificial arm

KW - Low-cost and High Efficiency

KW - Nonlinear System

KW - Robust Adaptive Control

UR - https://www.scopus.com/pages/publications/84866646946

U2 - 10.1109/CCDC.2012.6244168

DO - 10.1109/CCDC.2012.6244168

M3 - Conference paper (refereed)

AN - SCOPUS:84866646946

SN - 9781457720734

SP - 1062

EP - 1066

BT - Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012

PB - IEEE

T2 - 24th Chinese Control and Decision Conference, CCDC 2012

Y2 - 23 May 2012 through 25 May 2012

ER -

Low-cost and high efficiency robust adaptive control of artificial arms

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Keywords

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