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

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.

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

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Structural Health Monitoring ◽

10.1115/smasis2012-7924 ◽

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.

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

Journal of Control Science and Engineering ◽

10.1155/2014/280951 ◽

2014 ◽

Vol 2014 ◽

pp. 1-9 ◽

Cited By ~ 1

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.

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Adaptive Control of Robot Manipulators Using a Popov Hyperstability Approach

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1243/pime_proc_1995_209_370_02 ◽

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.

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Robust Adaptive Control of Nonlinear Systems With Input/Output Delays

Volume 8: Dynamic Systems and Control, Parts A and B ◽

10.1115/imece2010-39809 ◽

2010 ◽

Cited By ~ 1

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.

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