Adaptive Tracking Control of Industrial Robots

1988 ◽  
Vol 110 (3) ◽  
pp. 215-220 ◽  
Author(s):  
G. Ambrosino ◽  
G. Celentano ◽  
F. Garofalo
Keyword(s):  
Input Signal ◽  
Tracking Control ◽  
Design Procedure ◽  
Adaptive Controller ◽  
Approximate Model ◽  
Industrial Robots ◽  
Uncertain Parameters ◽  
Load Variations ◽  
Adaptive Tracking Control ◽  
Control Scheme

A design procedure for the synthesis of an adaptive controller for a robotic manipulator is presented. The design involves the evaluation of a nominal input signal by using a model of the manipulator with nominal values of the loads, and of an adaptive component by means of the sole knowledge of the maximum possible size of the uncertain parameters of the model. The proposed control scheme also guarantees an accurate tracking of a planned path when an approximate model of the manipulator is used and/or load variations occur during operation. Moreover, the resulting control signal is smooth.

scholarly journals Fuzzy cerebellar model articulation controller-based adaptive tracking control for load-carrying exoskeleton

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1472-1481
Author(s):  
Han Wu ◽  
Lin Lang ◽  
Honglei An ◽  
Qing Wei ◽  
Hongxu Ma
Keyword(s):  
Tracking Control ◽  
Approximate Model ◽  
Cerebellar Model Articulation Controller ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
Load Variations ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Load Carrying ◽  
Computed Torque

Load-carrying exoskeletons need to cope with load variations, outside disturbances, and other uncertainties. This paper proposes an adaptive trajectory tracking control scheme for the load-carrying exoskeleton. The method is mainly composed of a computed torque controller and a fuzzy cerebellar model articulation controller. The fuzzy cerebellar model articulation controller is used to approximate model inaccuracies and load variations, and the computed torque controller deals with tracking errors. Simulations of an exoskeleton in squatting movements with model parameter changes and load variations are carried out, respectively. The results show a precise tracking response and high uncertainties toleration of the proposed method.

scholarly journals ADAPTIVE TRACKING CONTROL FOR TWIN ROTOR MULTIPLE-INPUT MULTIPLE-OUTPUT BASED ON ISS STABILIZATION

2016 ◽  
Vol 54 (5) ◽  
pp. 672
Author(s):  
Nguyen Van Chi
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Multiple Input Multiple Output ◽  
Adaptive Controller ◽  
Uncertain Parameters ◽  
Vertical Movements ◽  
Adaptive Tracking Control ◽  
Input Multiple Output ◽  
Cable Force ◽  
Twin Rotor

This paper proposes the angle tracking control method for Twin rotor multi-input multiple-output (TRMS) using the input-to-state stability theory (ISS) for nonlinear systems. To apply this theory, the model of TRMS is rewritten by an Euler-Lagrange forced model with uncertain parameters and input disturbances. The uncertain parameters are the potential energies depended on the mass of TRMS’parts and the input disturbances are considered the friction force, the flat cable force, the effects of the speed of the main rotor on the horizontal movement and the speed of tail rotor to the vertical movements. Using modificated model of TRMS, we design the adaptive controller for angle ISS stabilization to attenuate the influences of uncertain parameters and input disturbances to the angles of TRMS. The robustness of the closed system is shown by the the stabilization of the angles with the yaw and pitch external disturbances, the simulation and experimental results help to proof the rightness of proposed method.

scholarly journals Finite-Time Adaptive Tracking Control for a Class of Pure-Feedback Nonlinear Systems with Disturbances via Decoupling Technique

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Qiangqiang Zhu ◽  
Ben Niu ◽  
Shengtao Li ◽  
Peiyong Duan ◽  
Dong Yang
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
Design Procedure ◽  
Adaptive Controller ◽  
Closed Loop System ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Feedback Structure ◽  
Derivatives Of

This paper addresses the finite-time adaptive tracking control problem for a class of pure feedback nonlinear systems whose nonaffine functions may not be differentiable. By properly modeling the nonaffine function, the design difficulty of the pure feedback structure is overcome without using the median value theorem. In our design procedure, an finite-time adaptive controller is elaborately developed using the decoupling technology, which eliminates the limitation assumption on the partial derivatives of nonaffine functions. Furthermore, the constructed controller can stabilize the system within a finite-time so that all signals in the closed-loop system are semiglobally uniformly finite-time bounded (SGUFB), while ensuring the tracking performance. Finally, the simulation results prove the effectiveness of the proposed method.

scholarly journals Adaptive Tracking Control for a Class of Manipulator Systems with State Constraints and Stochastic Disturbances

2018 ◽  
Vol 2018 ◽  
pp. 1-6
Author(s):  
Wei Sun ◽  
Wenxing Yuan ◽  
Jing Zhang ◽  
Qun Sun
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
State Constraints ◽  
Adaptive Controller ◽  
Compact Set ◽  
Closed Loop System ◽  
Stochastic Disturbances ◽  
Adaptive Tracking Control ◽  
Barrier Lyapunov Function ◽  
Control Scheme

An adaptive controller is constructed for a class of stochastic manipulator nonlinear systems in this paper. The states are constrained in the compact set. A tan-type Barrier Lyapunov Function (BLF) is employed to deal with state constraints. The proposed control scheme guarantees the output error convergence to a small neighbourhood of zero. All the signals in the closed-loop system are bounded. The simulation results illustrate the validity of the proposed method.

scholarly journals Adaptive Asymptotic Tracking Control for a Class of Uncertain Switched Systems via Dynamic Surface Technique

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-9
Author(s):  
Xuemiao Chen ◽  
Qianjin Zhao ◽  
Chunsheng Zhang ◽  
Jian Wu
Keyword(s):  
Switched Systems ◽  
Tracking Control ◽  
Control Method ◽  
Reference Signal ◽  
Adaptive Controller ◽  
Dynamic Surface Control ◽  
Dynamic Surface ◽  
Adaptive Tracking Control ◽  
Nonlinear Switched Systems ◽  
Control Scheme

A novel adaptive tracking control scheme is proposed for a class of uncertain nonlinear switched systems with perturbations in this paper. The common Lyapunov function method is introduced to handle the switched system in the design process of the desired adaptive controller. In addition, a dynamic surface control method is proposed by employing a nonlinear filter such that the “explosion of complexity” problem existing in the conventional backstepping design can be overcome. Under the presented adaptive controller, all the closed-loop signals are semiglobally bounded, and especially the output signal of the controlled system can follow the given reference signal asymptotically. To show the availability of the presented control scheme, a simulation is given in this paper.

Adaptive Tracking Control of Wheeled Mobile Robots

2011 ◽  
Vol 55-57 ◽  
pp. 1195-1199 ◽  
Author(s):  
Min Zuo ◽  
Guang Ping Zeng ◽  
Xu Yan Tu
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Control Input ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Velocity Increments ◽  
Simulation Results ◽  
Adaptive Control Scheme

Trajectory-tracking problem of wheeled mobile robots is investigated. Adaptive control scheme utilized has only one control signal. The control input gives out the velocity increments which will be utilized to adjust the pose of WMR so as to track the desired trajectories. The controller adopted is simple to realize and easy to tune the parameters, which is benefit to real applications. Numerical simulation results show that the control scheme is valid.

Adaptive multi-dimensional Taylor network tracking control for a class of switched nonlinear systems with input nonlinearity

2020 ◽  
Vol 42 (13) ◽  
pp. 2482-2491
Author(s):  
Shan-Liang Zhu ◽  
De-Yu Duan ◽  
Lei Chu ◽  
Ming-Xin Wang ◽  
Yu-Qun Han ◽  
...  
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Low Cost ◽  
Tracking Error ◽  
Switched Nonlinear Systems ◽  
Nonlinear Functions ◽  
Input Nonlinearity ◽  
Control Approach ◽  
Adaptive Tracking Control ◽  
Control Scheme

In this paper, a multi-dimensional Taylor network (MTN)-based adaptive tracking control approach is proposed for a class of switched nonlinear systems with input nonlinearity. Firstly, the input nonlinearity is assumed to be bounded by a sector interval. Secondly, with the help of MTNs approximating the unknown nonlinear functions, a novel adaptive MTN control scheme has the advantages of low cost, simple structure and real time feature is developed via backstepping technique. It is shown that the tracking error finally converges to a small domain around the origin and all signals in the closed-loop system are bounded. Finally, two examples are given to demonstrate the effectiveness of the proposed control scheme.

Adaptive Backstepping Control of the Gripping Process of Heavy Manipulators

2017 ◽  
Author(s):  
Lixin Yang ◽  
Xianmin Zhang
Keyword(s):  
Tracking Control ◽  
Hydraulic Drive ◽  
Adaptive Controller ◽  
Drive System ◽  
Uncertain Parameters ◽  
Backstepping Method ◽  
Nonlinear Characteristics ◽  
Cylinder Model ◽  
Stability Principle ◽  
The Stability

A valve-controlled asymmetrical cylinder model was established to study the gripping hydraulic drive system of the grip device of heavy manipulator. Due to the strong nonlinear characteristics and uncertain parameters of the model, the Lyapunov stability principle was used to design a multistage inversion adaptive controller based on backstepping method and by introducing the virtual control parameter. The simulation results reveal that the tracking control and adaptive of uncertain parameters are very effective, which confirm that the designed controller can guarantee the stability of the closed-loop clamping hydraulic drive system.

scholarly journals Direct Adaptive Tracking Control for a Class of Pure-Feedback Stochastic Nonlinear Systems Based on Fuzzy-Approximation

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Huanqing Wang ◽  
Xiaoping Liu ◽  
Qi Zhou ◽  
Hamid Reza Karimi
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Controller Design ◽  
Tracking Error ◽  
Small Neighborhood ◽  
Adaptive Controller ◽  
Stochastic Nonlinear Systems ◽  
Fuzzy Logic Systems ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking

The problem of fuzzy-based direct adaptive tracking control is considered for a class of pure-feedback stochastic nonlinear systems. During the controller design, fuzzy logic systems are used to approximate the packaged unknown nonlinearities, and then a novel direct adaptive controller is constructed via backstepping technique. It is shown that the proposed controller guarantees that all the signals in the closed-loop system are bounded in probability and the tracking error eventually converges to a small neighborhood around the origin in the sense of mean quartic value. The main advantages lie in that the proposed controller structure is simpler and only one adaptive parameter needs to be updated online. Simulation results are used to illustrate the effectiveness of the proposed approach.

Adaptive Tracking Control of an Air Powered Robot Actuator

1993 ◽  
Vol 115 (3) ◽  
pp. 427-433 ◽  
Author(s):  
B. W. McDonell ◽  
J. E. Bobrow
Keyword(s):  
Tracking Control ◽  
Position Control ◽  
Adaptive Controller ◽  
Pneumatic Actuator ◽  
Tracking Accuracy ◽  
Nonlinear Characteristics ◽  
Adaptive Tracking Control ◽  
Full State ◽  
Full State Feedback ◽  
High Bandwidth

An adaptive controller is presented for a one-degree-of-freedom pneumatic actuator. The control law uses full-state feedback for simultaneous parameter identification and tracking control. For position control, a pneumatic actuator with high bandwidth is difficult to obtain because of the compressibility of air and the nonlinear characteristics of air flowing through a variable area orifice. Most previous controllers for gas powered actuators were relatively limited fixed gain or on-off type controllers with low tracking accuracy. Experimental results demonstrate that tracking performance comparable to electric servomotors can be obtained using the algorithm presented despite the nonlinearities and compressibility of air.

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