A Simple Adaptive PD Control Scheme for Underactuated Mechanical Manipulators
Yang. Jung-Hua1, Yu. Shih-Shien2
1Yang. Jung Hua, Department of Vehicle Engineering, National Pingtung University of Science and Technology, Pingtung, Tawan.
2Yu. Shih Shien, Department of Vehicle Engineering, National Pingtung University of Science and Technology, Pingtung, Tawan.
Manuscript received on July 25, 2014. | Revised Manuscript received on August 03, 2014. | Manuscript published on August 30, 2014. | PP: 37-41  | Volume-3 Issue-6, August 2014.  | Retrieval Number:  F3280083614/2013©BEIESP

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Abstract: Robot arms have been widely used in the industry for many decades. They have played a very important role in factory automation. However, actuators failure might occur due to unfrequent maintenance or limited life cycle, which could cause severe damages to the operators and products. To solve this problem, an adaptive PD controller incorporated with a nonlinear compensation term is developed. This controller is designed based on conventional PD control scheme combined with adaptive control algorithm. Theoretical proof for the closed-loop dynamic system is given via Lyapunov theorem and La Salle’s theorem. To demonstrate the validity of the controller, a number of computer simulations as well as experiments are also performed.
Keywords: Adaptive control, Underactuated mechanical system, PD control.