English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/133135
Share/Impact:
Statistics
logo share SHARE   Add this article to your Mendeley library MendeleyBASE

Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar a otros formatos:
DC FieldValueLanguage
dc.contributor.authorArango, Jaime-
dc.contributor.authorOcampo-Martinez, Carlos-
dc.contributor.authorBianchi, Fernando D.-
dc.contributor.authorOsorio, Gustavo-
dc.date.accessioned2016-06-07T13:55:40Z-
dc.date.available2016-06-07T13:55:40Z-
dc.date.issued2015-
dc.identifierdoi: 10.1109/CCAC.2015.7345207-
dc.identifier.citationCCAC 2015-
dc.identifier.urihttp://hdl.handle.net/10261/133135-
dc.descriptionTrabajo presentado a la 2nd Colombian Conference on Automatic Control, celebrada en Manizales (Colombia) del 14 al 16 de octubre de 2015.-
dc.description.abstractThis work evaluates by simulation the performance of the Unfalsified Adaptive Control (UAC) for Multiple Degree of Freedom (MDoF) serial manipulators. The UAC is a data-driven technique that addresses stability issues of model-based controllers for robot arms with inertial uncertainties. The unfalsified controller selects the most suitable controller from a set, based on performance, to decide whether the controller in the closed loop should be changed, using only system inputs and outputs, i.e., torques and joint variables of the robotic arm, respectively. In this work, performance and robustness is evaluated by simulation on a 5-DoF manipulator showing the ability of the UAC to accomplish tracking tasks in the presence of inertial parameters disturbances.-
dc.publisherInstitute of Electrical and Electronics Engineers-
dc.relation.isversionofPostprint-
dc.rightsopenAccess-
dc.titleUnfalsified adaptive control for manipulators with parameter uncertainties-
dc.typecomunicación de congreso-
dc.identifier.doi10.1109/CCAC.2015.7345207-
dc.relation.publisherversionhttp://dx.doi.org/10.1109/CCAC.2015.7345207-
dc.date.updated2016-06-07T13:55:40Z-
dc.description.versionPeer Reviewed-
dc.language.rfc3066eng-
dc.relation.csic-
Appears in Collections:(IRII) Comunicaciones congresos
Files in This Item:
File Description SizeFormat 
Unfalsified adaptive.pdf297,26 kBUnknownView/Open
Show simple item record
 


WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.