Model Free Adaptive Predictive Tracking Control for Robot Manipulators with Uncertain Parameters

2021 ◽  
Author(s):  
Huiying Wu ◽  
Shangtai Jin ◽  
Chenkun Yin ◽  
Jianmin Zheng ◽  
Zhongsheng Hou
Keyword(s):  
Tracking Control ◽  
Robot Manipulators ◽  
Uncertain Parameters ◽  
Model Free

scholarly journals A New Model-Free Trajectory Tracking Control for Robot Manipulators

2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Yaoyao Wang ◽  
Kangwu Zhu ◽  
Bai Chen ◽  
Hongtao Wu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Tracking Accuracy ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Loop Control ◽  
Model Free ◽  
Loop Control System

In this paper, we propose a novel model-free trajectory tracking control for robot manipulators under complex disturbances. The proposed method utilizes time delay control (TDC) as its control framework to ensure a model-free scheme and uses adaptive nonsingular terminal sliding mode (ANTSM) to obtain high control accuracy and fast dynamic response under lumped disturbance. Thanks to the application of adaptive law, the proposed method can ensure high tracking accuracy and effective suppression of noise effect simultaneously. Stability of the closed-loop control system is proved using Lyapunov method. Finally, the effectiveness and advantages of the newly proposed TDC scheme with ANTSM dynamics are verified through several comparative simulations.

Tracking control via switched Integral Sliding Mode with application to robot manipulators

2019 ◽  
Vol 90 ◽  
pp. 257-266 ◽  
Author(s):  
Antonella Ferrara ◽  
Gian Paolo Incremona ◽  
Bianca Sangiovanni
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Integral Sliding Mode

Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator

2020 ◽  
Author(s):  
Alexander Bertino ◽  
Peiman Naseradinmousavi ◽  
Atul Kelkar
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Computational Efficiency ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Problem Formulation ◽  
Experimental Results ◽  
Model Free ◽  
Trajectory Simulation ◽  
Adaptive Control Strategy

Abstract In this paper, we study the analytical and experimental control of a 7-DOF robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7-DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.

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