TY - GEN
T1 - Adaptive control of a linear delta robot based on backstepping design
AU - Zhi-Xiang, Yang
AU - Peng, Jing Quan
AU - Chen, Mei Yung
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - This paper presents 2nd order adaptive controller for a linear delta robot based on the backstepping design. For different inputs, including step and continuity signals, such as sine waves, 1st order and 2nd order controller design the compensation and achieve the tracking error can converge to zero. We used the parameters of linear delta robot and input the step function, sine wave to compare the performance which linear delta robot system is in the external disturbance. The design of the controller is mainly for the reference input order to reduce the system steady-state error, effectively improve the tracking performance of the input signal and achieve zero steady-state error.
AB - This paper presents 2nd order adaptive controller for a linear delta robot based on the backstepping design. For different inputs, including step and continuity signals, such as sine waves, 1st order and 2nd order controller design the compensation and achieve the tracking error can converge to zero. We used the parameters of linear delta robot and input the step function, sine wave to compare the performance which linear delta robot system is in the external disturbance. The design of the controller is mainly for the reference input order to reduce the system steady-state error, effectively improve the tracking performance of the input signal and achieve zero steady-state error.
KW - Adaptive control
KW - Backstepping
KW - Linear delta robot
UR - http://www.scopus.com/inward/record.url?scp=85067092847&partnerID=8YFLogxK
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U2 - 10.1109/SCIS-ISIS.2018.00179
DO - 10.1109/SCIS-ISIS.2018.00179
M3 - Conference contribution
AN - SCOPUS:85067092847
T3 - Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
SP - 1138
EP - 1141
BT - Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
Y2 - 5 December 2018 through 8 December 2018
ER -