UGC Approved Journal no 63975(19)

ISSN: 2349-5162 | ESTD Year : 2014
Call for Paper
Volume 11 | Issue 3 | March 2024

JETIREXPLORE- Search Thousands of research papers



WhatsApp Contact
Click Here

Published in:

Volume 6 Issue 5
May-2019
eISSN: 2349-5162

UGC and ISSN approved 7.95 impact factor UGC Approved Journal no 63975

7.95 impact factor calculated by Google scholar

Unique Identifier

Published Paper ID:
JETIRCN06044


Registration ID:
215312

Page Number

247-252

Share This Article


Jetir RMS

Title

Design of one Nonlinear Adaptive Controller for a Robot Manipulator

Abstract

This paper represents an adaptive controller design for a robot manipulator in the presence of disturbances. At the outset of the design, the state space model robot has been presented. Contingent upon the variation of parameters like lump inertia, friction coefficients, rotor inertia, a technique has been utilized to devise an adaptive control for the nonlinear system. Further Lyapunov Stability theory has been applied to the dynamic system to ensure the stability of the overall system in spite of parameter uncertainty. The improvement in the performance of the proposed control law has been presented in the simulation environment.

Key Words

Adaptive control, Robot manipulator, State space model, Nonlinear system, Lyapunov stability theory.

Cite This Article

"Design of one Nonlinear Adaptive Controller for a Robot Manipulator", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.6, Issue 5, page no.247-252, May - 2019, Available :http://www.jetir.org/papers/JETIRCN06044.pdf

ISSN


2349-5162 | Impact Factor 7.95 Calculate by Google Scholar

An International Scholarly Open Access Journal, Peer-Reviewed, Refereed Journal Impact Factor 7.95 Calculate by Google Scholar and Semantic Scholar | AI-Powered Research Tool, Multidisciplinary, Monthly, Multilanguage Journal Indexing in All Major Database & Metadata, Citation Generator

Cite This Article

"Design of one Nonlinear Adaptive Controller for a Robot Manipulator", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.6, Issue 5, page no. pp247-252, May - 2019, Available at : http://www.jetir.org/papers/JETIRCN06044.pdf

Publication Details

Published Paper ID: JETIRCN06044
Registration ID: 215312
Published In: Volume 6 | Issue 5 | Year May-2019
DOI (Digital Object Identifier): http://doi.one/10.1729/Journal.21775
Page No: 247-252
Country: Chennai, Tamil Nadu, India .
Area: Engineering
ISSN Number: 2349-5162
Publisher: IJ Publication


Preview This Article


Downlaod

Click here for Article Preview

Download PDF

Downloads

0002868

Print This Page

Current Call For Paper

Jetir RMS