The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Table of Contents
From MRAC to Learning-Based MPC: the emerging importance of machine learning for control of robot manipulators. Discussion on Model Reference Adaptive Control of Robotic Manipulators. Data-Based Learning for Uncertain Robotic Systems. Reinforcement Learning of Robotic Manipulators. Adaptive control for multi-fingered robot hands. Output Feedback Adaptive Control of Uncertain Dynamical Systems with Event-Triggering. Event Sampled Adaptive Control of Robot Manipulators and Mobile Robot Formations. Design, Integration and Analysis of a Hybrid Controller for Multi Degrees of Freedom Serial Mechanisms. Adaptive Control of Modular Ankle Exoskeletons in Neurologically Disabled Populations. Open Architecture High Value Added Robot Manufacturing Cells. The Adaptive Control Algorithm for Manipulators with Joint Flexibility. Unification of Bipedal Robotic Walking using Quadratic Program-based Control Lyapunov Function: Applications to Regulation of ZMP and Angular Momentum. Robust Adaptive Nonlinear Control for Robotic Manipulators with Flexible Joints. Adaptive Switching Iterative Learning Control of Robot Manipulator. Adaptive Robust Control Design for Robot Manipulators Based on Online Estimation of the Lumped Time-Varying Model Uncertainties. Evaluation of microgenetic and microimmune algorithms for solving inverse kinematics of hyper-redundant robotic manipulators on-line.