Modelling of a logarithmic parameter adaptation law for adaptive control of mechanical manipulators

In the paper, a new adaptive control law for controlling robot manipulators is derived based on the Lyapunov theory; trigonometric functions are used for the derivation of the parameter estimation law. In this note, we have derived a logarithmic parameter estimation law based on a previous paper, and the boundedness of tracking error has been shown.

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Design of an adaptive control law using trigonometric functions for robot manipulators

Robotica ◽

10.1017/s0263574704000657 ◽

2005 ◽

Vol 23 (1) ◽

pp. 93-99 ◽

Cited By ~ 2

Author(s):

Recep Burkan

Keyword(s):

Adaptive Control ◽

Robot Manipulators ◽

Tracking Error ◽

Uncertain System ◽

Control Law ◽

Trigonometric Functions ◽

Feed Forward ◽

Inertia Parameters ◽

The Stability ◽

Adaptive Control Law

In this study, a new approach of adaptive control law for controlling robot manipulators using the Lyapunov based theory is derived, thus the stability of an uncertain system is guaranteed. The control law includes a PD feed forward part and a full dynamics feed forward compensation part with the unknown manipulator and payload parameters. The novelty of the obtained result is that an adaptive control algorithm is developed using trigonometric functions depending on manipulator kinematics, inertia parameters and tracking error, and both system parameters and adaptation gain matrix are updated in time.

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Vehicle yaw-inertia- and mass-independent adaptive steering control

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1243/09544070jauto1135 ◽

2009 ◽

Vol 223 (9) ◽

pp. 1101-1108 ◽

Cited By ~ 16

Author(s):

J Wang ◽

M F Hsieh

Keyword(s):

Adaptive Control ◽

Tracking Error ◽

Stability Control ◽

Driving Safety ◽

Control Law ◽

Steering Control ◽

Tracking Accuracy ◽

Unknown Parameters ◽

Practical Applications ◽

Adaptive Control Law

This paper describes a vehicle stability control (VSC) system using a vehicle yaw-inertia- and mass-independent adaptive control law. As a primary vehicle active control system, VSC can significantly improve vehicle driving safety for passenger cars and enhance trajectory tracking accuracy for other applications such as autonomous, surveillance, and mobile robot vehicles. For the designs of vehicle dynamic control systems, vehicle yaw inertia and mass are two of the most important parameters. However, in practical applications, vehicle yaw inertia and mass often change with vehicle payload and load distribution. In this paper, an adaptive control law is proposed to treat the vehicle yaw inertia and mass as unknown parameters and automatically address their variations. For the proposed adaptive control law, asymptotic stability of the yaw rate tracking error was proved by a Lyapunov-like analysis for certain vehicle architectures under some reasonable assumptions. The performance of the yaw-inertia- and mass-independent adaptive VSC system was evaluated under several driving conditions (i.e. double lane changing on a slippery surface and braking on a split- μ surface tests) through simulation studies using a high-fidelity full-vehicle model provided by CarSim®.

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Parameter estimation and upper bounding adaptation in adaptive-robust control approaches for trajectory control of robots

Robotica ◽

10.1017/s0263574702004460 ◽

2002 ◽

Vol 20 (6) ◽

pp. 653-660 ◽

Cited By ~ 8

Author(s):

Ibrahim Uzmay ◽

Recep Burkan

Keyword(s):

Parameter Estimation ◽

Adaptive Control ◽

Robust Control ◽

Uncertain System ◽

Adaptive Controller ◽

Robust Adaptive Control ◽

Adaptive Robust Control ◽

Lyapunov Theory ◽

Control Law ◽

Control Input

In this paper a new robust adaptive control law for n-link robot manipulators with parametic uncertainties is derived using the Lyapunov theory thus guaranteed the stability of an uncertain system. The novelty of the adaptive robust control algorithm is that manipulator parameters and adaptive upper bounding functions are estimated to control the system properly, and the adaptive robust control law is also updated as an exponential function of manipulator kinematics, inertia parameters and tracking errors. The proposed adaptive control input includes a parameter estimation law as an adaptive controller and an additional control input vector as a robust controller. The developed approach has the advantages of both adaptive and robust control laws, without their discolour tags.

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Adaptive Control Synchronization of a Novel Memristive Chaotic System for Secure Communication Applications

Inventions ◽

10.3390/inventions4020030 ◽

2019 ◽

Vol 4 (2) ◽

pp. 30 ◽

Cited By ~ 2

Author(s):

Zain-Aldeen S. A. Rahman ◽

Hayder A. A. Al-Kashoash ◽

Saif Muneam Ramadhan ◽

Yasir I. A. Al-Yasir

Keyword(s):

Adaptive Control ◽

Chaotic System ◽

Data Transmission ◽

Secure Communication ◽

Chaotic Systems ◽

Lyapunov Theory ◽

Control Law ◽

Slave System ◽

Synchronization Mechanism ◽

Adaptive Control Law

In this paper, a new memristive chaotic system is designed, analyzed, tested, and proposed. An adaptive control synchronization mechanism for both master and slave chaotic systems is also designed. The adaptive control law of this mechanism is derived based on the Lyapunov theory. A single parameter in the slave system has been assumed to be unknown. As the parameters of the master and slave are asymptotically matched, the unknown slave parameters will be identified according to the master’s parameters. The proposed system is used in a secure communication system. The achieved results prove a simple system implementation with a high security of data transmission.

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Advanced Adaptive Vibration Controller for Active Magnetic Bearing with Application to Energy Storage Flywheel

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.805-806.530 ◽

2013 ◽

Vol 805-806 ◽

pp. 530-536

Author(s):

Xiao Qiang Du ◽

Yong Duan Song ◽

Lei Wang ◽

Yan Hui Wang ◽

Bao Liang Zan

Keyword(s):

Adaptive Control ◽

Energy Storage ◽

Storage System ◽

Energy Storage System ◽

Magnetic Bearing ◽

Lyapunov Theory ◽

Active Magnetic Bearing ◽

Control Law ◽

Control Approach ◽

Adaptive Control Law

This work introduced a kind of advanced adaptive control approach applied in Active magnetic bearing (AMB) to suppress the rotors vibrations in Flywheel Energy Storage System (FESS). The bearings system was built as a five degree-of-freedom (DOF) system and the four radial DOF among these were adopted AMB. Based on the Lyapunov theory, the proposed adaptive control law was designed to compensate various disturbance factors by controlling the AMBs. Finally, the simulation result illustrates that the proposed adaptive control law is effective to reduce the rotors vibration and improve the systems stability.

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Adaptive Force/Position Control Law of Nonlinear Robotic System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.52-54.1670 ◽

2011 ◽

Vol 52-54 ◽

pp. 1670-1674

Author(s):

Chun Di Jiang ◽

Hai Lun Wang ◽

Lu Zhang

Keyword(s):

Adaptive Control ◽

Position Control ◽

Tracking Error ◽

Robotic System ◽

Robotic Systems ◽

Control Law ◽

Robot System ◽

Adaptive Control Law ◽

Made In

Based on the reference [1], this paper presents an adaptive control law of nonlinear robotic systems. The performance of robot system is testified by a simulation example of 2-dof robots system and doing experiment in SRV-02 equipment which is made in Canada, the results obtained are satisfactory and the tracking error is negligible.

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