Adaptive manipulation and slippage control of an object in a multi-robot cooperative system

Robotica ◽  
2013 ◽  
Vol 32 (5) ◽  
pp. 783-802
Author(s):  
Shahram Hadian Jazi ◽  
Mehdi Keshmiri ◽  
Farid Sheikholeslam ◽  
Mostafa Ghobadi Shahreza ◽  
Mohammad Keshmiri
Keyword(s):  
Adaptive Control ◽  
Adaptive Controller ◽  
Control Synthesis ◽  
Parameter Uncertainties ◽  
Robot System ◽  
Mass Properties ◽  
Grasping And Manipulation ◽  
Grasp Synthesis ◽  
Adaptive Control Law ◽  
Multi Robot

SUMMARYConsidering undesired slippage between manipulated object and finger tips of a multi-robot system, adaptive control synthesis of the object grasping and manipulation is addressed in this paper. Although many studies can be found in the literature dealing with grasp analysis and grasp synthesis, most assume no slippage between the finger tips and the object. Slippage can occur for many reasons such as disturbances, uncertainties in parameters, and dynamics of the system. In this paper, system dynamics is analyzed using a new presentation of friction and slippage dynamics. Then an adaptive control law is proposed for trajectory tracking and slippage control of the object as well as compensation for parameter uncertainties of the system, such as mass properties and coefficients of friction. Stability of the proposed adaptive controller is studied analytically and the performance of the system is studied numerically.

Adaptive Control of Object Path Tracking and Finger Tip Slippage in a Multi-Fingered Robotic System

2008 ◽  
Author(s):  
Shahram Hadian Jazi ◽  
Mehdi Keshmiri ◽  
Farid Sheikholeslam
Keyword(s):  
Adaptive Control ◽  
System Dynamics ◽  
Trajectory Tracking ◽  
Adaptive Controller ◽  
Path Tracking ◽  
Control Synthesis ◽  
Parameter Uncertainties ◽  
New Approach ◽  
Finger Tip ◽  
Bounded Trajectory

Considering slippage between finger tips and an object, adaptive control synthesis of grasping and manipulating an object by a multi-fingered system is addressed in this paper. Slippage can occur due to many reasons such as disturbances, uncertainties in parameters and dynamics. In this paper, using a novel representation of friction and slippage dynamics, a new approach is introduced to analyze the system dynamics. Then an adaptive controller with a simple update rule is proposed to ensure the bounded trajectory tracking and slippage control, and at the same time to compensate for parameter uncertainties including coefficients of friction. The performance of the proposed adaptive controller is shown analytically and studied numerically.

Robust Adaptive Control of Mildly Nonlinear Systems With Time Varying Input/Output Delays

2012 ◽  
Author(s):  
James P. Nelson ◽  
Mark J. Balas ◽  
Richard S. Erwin
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Control Law ◽  
Time Varying ◽  
Robust Adaptive ◽  
Input Delays ◽  
Persistent Disturbances ◽  
Adaptive Control Law

Many systems must operate in the presence of delays both internal to the system and in its inputs and outputs. In this paper we present a robustness result for mildly nonlinear systems. We use this result to show that, for small unknown time varying input delays, a simple adaptive controller can produce output regulation to a neighborhood with radius dependent upon the size of an upper bound on the delay. This regulation occurs in the presence of persistent disturbances and the convergence is exponential. We conclude with an example to illustrate the behavior of this adaptive control law.

Contribution to the Adaptive Control of Multiple Compliant Manipulation of Dynamic Environments

Robotica ◽  
1999 ◽  
Vol 17 (1) ◽  
pp. 97-109 ◽  
Author(s):  
M. Vukobratovic ◽  
A. Tuneski
Keyword(s):  
Adaptive Control ◽  
Inverse Dynamics ◽  
Adaptive Controller ◽  
Control Law ◽  
Multiple Robots ◽  
Constrained Motion ◽  
Parameter Update Law ◽  
Physical Effects ◽  
Multiple Robot ◽  
Adaptive Control Law

An adaptive control of multiple robot compliant manipulation of a dynamical environment is synthesized. It may be implemented when: (i) there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system to be controlled; (ii) the parameters of the system are not precisely known, (iii) the system parameters do vary in a known region about their nominal values. The proposed adaptive control law has the inverse dynamics controller structure and is composed of an identification part (parameter update law), and a control law part. It is proved that the proposed adaptive controller is asymptotically stable. The simulation results verify the proposed approach to coordinated adaptive control of multiple robot manipulators in constrained motion tasks. They also verify that the multiple robots/object/environment system can track a step parameter change.

scholarly journals Decreasing the Value of Specified Cost Function by Adaptive Controller Based on Modified ACLF for a Class of Nonlinear Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Keizo Okano ◽  
Kojiro Hagino ◽  
Hidetoshi Oya
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Cost Function ◽  
Design Method ◽  
Adaptive Controller ◽  
Control Law ◽  
Control Lyapunov Function ◽  
Nonlinear Adaptive Control ◽  
Hamilton Jacobi Bellman ◽  
Adaptive Control Law

A new nonlinear adaptive control law for a class of uncertain nonlinear systems is proposed. The proposed control law is designed by a modified adaptive control Lyapunov function (ACLF) which satisfies a Hamilton-Jacobi-Bellman (HJB) equation. The modified ACLF is derived from transformation of an ACLF. The proposed control law is different from the inverse optimal one in decreasing the value of a cost function specified by a designer. In this paper, we show a transformation coefficient for an ACLF and a design method of a nonlinear adaptive controller. Finally, it is shown by a numerical simulation that the proposed control law decreases the value of a given cost function and achieves the desirable trajectory.

Adaptive Control of Robot Manipulators Using a Popov Hyperstability Approach

1995 ◽  
Vol 209 (2) ◽  
pp. 93-100
Author(s):  
H Yu
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Adaptive Controller ◽  
Control Law ◽  
Control Laws ◽  
Performance Simulation ◽  
Control Approach ◽  
Adaptive Parameters ◽  
Hyperstability Theory ◽  
Adaptive Control Law

A general adaptive control approach of robot manipulators using Popov hyperstability is proposed in this paper. The manipulator adaptive control problem is first formulated in a form suitable for the application of hyperstability theory. The adaptive control law is general, and most of the adaptive control laws that have been proposed are special forms of this adaptive control law. The adaptive controller takes advantage of the flexibility in the choice of the adaptive parameters and the controller structure. The adaptive controller guarantees globally asymptotic stability in the hyperstability sense. For input disturbances, the control law, with little modification, maintains satisfactory system performance. Simulation results are presented to evaluate the performance of the adaptive controller for a two link manipulator.

Robust Adaptive Control of Nonlinear Systems With Input/Output Delays

2010 ◽  
Author(s):  
Mark J. Balas ◽  
Suraj Gajendar
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Adaptive Controller ◽  
Output Regulation ◽  
Robust Adaptive Control ◽  
Control Law ◽  
Robust Adaptive ◽  
Input Delays ◽  
Persistent Disturbances ◽  
Adaptive Control Law

Many systems must operate in the presence of delays both internal to the system and in its inputs and outputs. In this paper we present a robustness result for mildly nonlinear systems. We use this result to show that for small unknown input delays, a simple adaptive controller can produce output regulation to a neighborhood with radius dependent upon the size of the delay. This regulation occurs in the presence of persistent disturbances and the convergence is exponential. We conclude with an example to illustrate the behavior of this adaptive control law.

Design of a Robust Model Reference Adaptive Control System

2012 ◽  
Vol 236-237 ◽  
pp. 976-980
Author(s):  
Xiu Chun Zhao ◽  
Guo Kai Xu ◽  
Tao Zhang ◽  
Ping Su Ge
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Adaptive Control System ◽  
External Disturbances ◽  
Robust Model ◽  
Robust Adaptive ◽  
Model Reference Adaptive ◽  
Adaptive Control Law

This paper addresses a robust adaptive control system based on Popov hyper-stability theory, which has strong robustness for the particular structure. Introducing the error between model and controlled object into adaptive controller, the system has accurate tracking capability and the convergence even in the presence of external disturbances and uncertainties. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with PID control.

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