FAT-based robust adaptive control of cooperative multiple manipulators without velocity measurement

Robotica ◽  
2021 ◽  
pp. 1-31
Author(s):  
Ali Deylami ◽  
Alireza Izadbakhsh
Keyword(s):  
Approximation Property ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Fourier Series Expansion ◽  
Unmodeled Dynamics ◽  
Cooperative System ◽  
Robotic Arms ◽  
Robust Adaptive ◽  
End Effectors ◽  
The Stability

Abstract This article addresses the problem of pose and force control in a cooperative system comprised of multiple n-degree-of-freedom (n-DOF) electrically driven robotic arms that move a payload. The proposed controller should be capable of maintaining the position and orientation of the payload in the desired path. In addition, the force exerted by robot end effectors on the object must remain limited. The system has unmodeled dynamics, and measuring the robot joint velocities is impossible. Therefore, a FAT-based observer–controller is designed to estimate the uncertainty and velocities based on universal approximation property of Fourier series expansion. The stability of the system is confirmed based on Lyapunov’s stability theorem. Finally, the proposed adaptive controller–observer is applied on two 3-DOF cooperative robotic arms carrying a payload, and the results are precisely analyzed. The results of the proposed approach are also compared with two state-of-art powerful approximation method.

Robust Adaptive Control Based on Specified Region Pole Assignment for Flexible Hypersonic Vehicle

2011 ◽  
Vol 128-129 ◽  
pp. 270-275
Author(s):  
Zhi Gao Feng
Keyword(s):  
Dynamic Performance ◽  
Adaptive Controller ◽  
Pole Assignment ◽  
Hypersonic Vehicle ◽  
Open Loop ◽  
Robust Adaptive Control ◽  
Robust Controller ◽  
Robust Adaptive ◽  
Robust Adaptive Controller ◽  
Control Failures

This paper describes a robust adaptive controller based on specified region pole assignment for flexible hypersonic vehicle. The dynamic model of air-breathing hypersonic vehicle retains features including flexible effects, non-minimum phase behavior, model uncertainties, and strong couplings between flight dynamic and engine. To track velocity and altitude commands, robust controller based on specified region pole assignment is used to make unstable modes of open-loop system stable and guarantee dynamic performance of attitude. Meanwhile adaptive controller is proposed to solve tracking problems when existing control failures or saturation. The simulation results demonstrate that the proposed controller achieves excellent dynamic performance while the engine operates normally.

Robust Adaptive Control of Nonlinear Systems with Uncertainties

2014 ◽  
Vol 568-570 ◽  
pp. 1108-1112
Author(s):  
Ning Liu ◽  
Yu Sheng Liu ◽  
Qiang Yang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Design Parameters ◽  
Unmodeled Dynamics ◽  
Time Varying ◽  
Mean Square ◽  
Robust Controller ◽  
The Mean ◽  
Robust Adaptive

This paper proposes a robust adaptive robust controller for nonlinear systems represented by input-output models with unmodeled dynamics. Under the circumstances that the output of the system is bounded, the proposed controller can guarantee that all the variables of the system are bounded in the presence of unmodeled dynamics and time-varying disturbances. The scheme does not need to generate an additional dynamic signal to dominate the effects of the unmodeled dynamics. It is shown that the mean-square tracking error can be made arbitrarily small by choosing some design parameters appropriately.

Nonlinear Robust Adaptive Control Using Direct Adaptive Method

2012 ◽  
Vol 263-266 ◽  
pp. 817-821 ◽  
Author(s):  
Yi Mei Chen ◽  
Shao Ru Chen
Keyword(s):  
Adaptive Controller ◽  
Adaptive Method ◽  
Robust Adaptive Control ◽  
Adaptive Stabilization ◽  
Unknown Parameters ◽  
System A ◽  
Robust Adaptive ◽  
System States ◽  
Direct Adaptive Method ◽  
Robust Adaptive Controller

The problem of robust adaptive stabilization of a class of multi-input nonlinear systems with unknown parameters and structure has been considered. By employing the direct adaptive method to a general nonlinear adaptive system, a robust adaptive controller is designed to complete the global asymptotically stability of the system states. Some simulations are provided to illustrate the effectiveness of the proposed method.

Robust Adaptive Control Scheme for Discrete-Time System With Actuator Failures

2004 ◽  
Vol 127 (3) ◽  
pp. 520-526 ◽  
Author(s):  
Juntao Fei ◽  
Shuhao Chen ◽  
Gang Tao ◽  
Suresh M. Joshi
Keyword(s):  
Adaptive Control ◽  
Discrete Time ◽  
System Performance ◽  
Linear Time ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Discrete Time System ◽  
Control Approach ◽  
Actuator Failures ◽  
Robust Adaptive

A robust adaptive control approach using output feedback for output tracking is developed for discrete-time linear time-invariant systems with uncertain failures of redundant actuators in the presence of the unmodeled dynamics and bounded output disturbance. Such actuator failures are characterized by some unknown inputs stuck at some unknown fixed values at unknown time instants. Technical issues such as plant-model output matching, adaptive controller structure, adaptive parameter update laws, stability and tracking analysis, and robustness of system performance are solved for the discrete-time adaptive actuator failure compensation problem. A case study is conducted for adaptive compensation of rudder servomechanism failures of a Boeing 747 dynamic model presented in discrete time, verifying the desired adaptive system performance in the presence of uncertain actuator failures.

scholarly journals A Discrete RMRAC-STSM Controller for Current Regulation of Three-Phase Grid-Tied Converters with LCL filter

2021 ◽  
Author(s):  
GUILHERME VIEIRA HOLLWEG ◽  
PAULO JEFFERSON DIAS DE OLIVEIRA EVALD ◽  
EVERSON MATTOS ◽  
RODRIGO VARELLA TAMBARA ◽  
HILTON ABíLIO GRüNDLING
Keyword(s):  
Control Structure ◽  
Reference Model ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Current Control ◽  
Robust Adaptive Control ◽  
Lcl Filter ◽  
Robust Model ◽  
Three Phase ◽  
Robust Adaptive

This article presents a discrete robust adaptive control structure, gathering a Robust Model Reference Adaptive Controller (RMRAC) with an adaptive Super-Twisting Sliding Mode (STSM) controller. The resulting control structure is applied to current control of a voltage-fed three-phase inverter, connected to the grid by an LCL filter. The main contribution of this control proposal is its adaptability, maintaining the robustness characteristics of the controllers that compose it with good regulation performance. Moreover, as the adaptive Sliding Mode action is high-order (Super-Twisting), the chattering phenomenon is significantly mitigated. Thereby, its implementation is simplified, using a first order reference model. For this, the dynamics of the LCL filter capacitors are neglected during the modeling process, considering it as an additive unmodeled dynamics. To validate the viability of the proposed control structure, Hardware in the Loop (HIL) results are presented.

Sign in / Sign up

Export Citation Format

Share Document