Abstract
In digital computer based controllers, efficient sampling mechanisms for sensors as well as controllers is of great importance. In this paper, we are interested in designing controllers that result in low average frequency of control updates while simultaneously ensuring stability of the robotic system. We experimentally investigate a non-periodic state-triggered control sampling scheme (designed through Lyapunov like analysis) for adaptive tracking controllers in robot manipulators. We implement this scheme on two well known continuous-time adaptive controllers for tracking in robot manipulators and compare their performance heuristically based on the results of experiments performed on a two link planar manipulator.
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Tallapragada, P., Chopra, N. (2013). Lyapunov Based Sampling for Adaptive Tracking Control in Robot Manipulators: An Experimental Comparison. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_46
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DOI: https://doi.org/10.1007/978-3-319-00065-7_46
Publisher Name: Springer, Heidelberg
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