Experimental Validation of an Adaptive Controller for Manipulators on a Dynamic Platform

摘要

This paper reports on laboratory and field experimental results for controlled robotic manipulators operating on moving platforms with unmodeled dynamics. The aim is to validate theoretical predictions for the dependence on control parameters of an adaptive control strategy. In addition, the results provide insight into different discretizations of the continuous-time formulation, suggesting the most suitable discretization scheme for hardware implementation. The second set of experimental results, obtained from an implementation of the control framework for synchronization and consensus in networks of robotic manipulators, similarly validate theoretical predictions on the sensitivity to network communication delays.