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Adaptive control for robot arms under dynamic constraints

Paper Authors:

Viswa Narayanan Sankaranarayanan,

Sumeet Gajanan Satpute,

Spandan Roy,

George Nikolakopoulos

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Key Details

Proposes adaptive control for Euler-Lagrange robot arms

Handles unknown parameters and time-varying constraints

Doesn't require bounds on uncertainty for stability

Lyapunov analysis proves error bounds

Simulations show improved performance

AI generated summary

Adaptive control for robot arms under dynamic constraints

This paper proposes a novel adaptive control method for robot arms modeled with Euler-Lagrange dynamics. It can handle unknown system parameters and time-varying state constraints, without needing bounds on uncertainty. A Lyapunov stability analysis proves the controller keeps errors within predefined bounds. Simulations of a 2-link manipulator show improved performance picking and placing payloads versus other adaptive and barrier Lyapunov methods.

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