Directly adaptive control for robotic manipulators with time varying uncertainties
196 viewsDOI:
https://doi.org/10.54939/1859-1043.j.mst.FEE.2022.10-16Keywords:
Adaptive control; Robotic manipulator control; Time varying uncertainty observation.Abstract
The paper proposes an approach of directly adaptive control for manipulators, which is applicable to control the robotics perturbed by time varying uncertain parameters. This approach is established based on combining the well known conventional feedback linearization method and the here in this article proposed model based online observation of uncertainties. The tracking control performance of this proposed directly adaptive controller has been verified peer theoretical method and numerical simulation.
References
[1]. Frank L. Lewis, Darren M. Dawson and Chaouki T. Abdallah, “Robot Manipulator Control: Theory and Practice”, Marcel Dekker, Inc., Second edition, (2006).
[2]. M. Sami Fadali and Antonio Visioli, “Digital Control Engineering: Analysis and Design”, Elsevier Inc., Academic Press, Third edition, (2020).
[3]. J.A. Tenreiro Machado and J.L. Martins de Carvalho, “Robot Manipulator Systems: Analysis and Control”, in Systems Analysis and Simulation II, Springer, (1988). DOI: https://doi.org/10.1007/978-1-4613-8936-1_31
[4]. Chae H. An, Christopher, G. Atkeson and John Hollerbach, “Model-Based Control of a Robot Manipulator”, MIT Press, (1988).
[5]. W. Spong, S. Hutchinson and M. Vidyasagar, “Robot modelling and control”. New York, Wiley, (2006).
[6]. J.J.E. Slotine and W.Li, “Applied nonlinear control”, Prentice Hall, (1991).
[7]. L.Bascetta and P.Rocco, “Revising the robust control design for rigid robot manipulators”, IEEE Transactions on Robotics, pp.189-187, (2010). DOI: https://doi.org/10.1109/TRO.2009.2033957
[8]. N.D.Phuoc, “Analyse and control of nonlinear systems”, HUST text book, third edition, (2020) (in Vietnamese).
[9]. N.D. Phuoc and N.H. Nam, “An intelligent parameter determination approach in iterative learning control”, European Journal of Control, Vol. 61, pp. 91-100, (2021). DOI: https://doi.org/10.1016/j.ejcon.2021.06.001
[10]. N.D.Phuoc, “Theory of linear control systems”, HUST text book, the 4th edition, (2009) (in Vietnamese).
[11]. N.D.Phuoc, “Control theory of nonlinear control systems”, HUST text book, the third edition, (2008) (in Vietnamese).
[12]. A.Ashagrie, A.O.Salauhttps and T.Weldcherkos, “Modeling and control of a 3-DOF articulated robotic manipulator using self-tuning fuzzy sliding mode controller”, Cogent Engineering, Vol.8, No.1, (2021). DOI: https://doi.org/10.1080/23311916.2021.1950105
[13]. Bazanella, A.S., Campestrini, L., Eckhard, D., “Data-driven controller design: the approach”. Springer, (2012).
[14]. K. van Heusden, A. Karimi and D. Bonvin. “Data-driven model reference control with asymptotically guaranteed stability”. Int. J. Adapt. Control Signal Process, 25, pp. 331–351, (2011). DOI: https://doi.org/10.1002/acs.1212
