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.

Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator

2021 ◽  
Vol 143 (7) ◽  
Author(s):  
Alexander Bertino ◽  
Peiman Naseradinmousavi ◽  
Atul Kelkar
Keyword(s):  
Adaptive Control ◽  
Computational Efficiency ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
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 seven degrees-of-freedom (7DOF) 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 7DOF 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.

Model-Free Adaptive Nonlinear Control of the Absorption Refrigeration System

2021 ◽  
Author(s):  
Na Dong ◽  
Wenjin Lv ◽  
Shuo Zhu ◽  
Zhong-ke Gao ◽  
Celso Grebogi
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Tracking Control ◽  
Absorption Refrigeration ◽  
Refrigeration System ◽  
Absorption Chiller ◽  
Model Free ◽  
Temperature Tracking ◽  
Single Effect ◽  
Absorption Refrigeration System

Abstract Based on the model-free adaptive control (MFAC) theory, the temperature tracking control problem of single-effect LiBr/H 2 O absorption chiller is explored. Due to the complex nonlinearity and strong coupling characteristics of the absorption refrigeration system, model-free adaptive control strategy is designed for its temperature tracking control. Nevertheless, the traditional model-free adaptive control has a slow tracking speed and poor denoising ability. In order to improve its control effect, output error rate is added to the objective function and new control laws of model-free adaptive control with output error rate (MFAC-OER) have been derived through an exhaustive convergence and stability analysis. The input and output information of the absorption refrigeration system, namely the hot water pump frequency and frozen water outlet water temperature, are combined. The data model of the absorption refrigeration system is subsequently deduced using a compact format dynamic linearization method. Next, based on the single effect absorption chiller experimental platform in our laboratory, its sixth-order dynamic model is built. Finally, the effectiveness and practicability of the improved control strategy are validated by numerical simulations and experimental operating data from our laboratory as well as by the dynamical model of the absorption chiller.

scholarly journals A Separated Adaptive Control Strategy for Different Conditions Based on Flexible Dynamics Equation of Robot Manipulator

2019 ◽  
Vol 52 (6) ◽  
pp. 575-585
Author(s):  
Jiali Pi ◽  
Weiming Zhang ◽  
Shifu Zhang ◽  
Chunming Pi ◽  
Changhua Xie
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Robot Manipulator ◽  
Adaptive Control Strategy

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021 ◽  
pp. 1-31
Author(s):  
S.H. Derrouaoui ◽  
Y. Bouzid ◽  
M. Guiatni
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Experimental Tests ◽  
Generic Model ◽  
System Control ◽  
System A ◽  
Viable Solution ◽  
Generic Modeling ◽  
Adaptive Control Strategy ◽  
The Stability

Abstract Recently, transformable Unmanned Aerial Vehicles (UAVs) have become a subject of great interest in the field of flying systems, due to their maneuverability, agility and morphological capacities. They can be used for specific missions and in more congested spaces. Moreover, this novel class of UAVs is considered as a viable solution for providing flying robots with specific and versatile functionalities. In this paper, we propose (i) a new design of a transformable quadrotor with (ii) generic modeling and (iii) adaptive control strategy. The proposed UAV is able to change its flight configuration by rotating its four arms independently around a central body, thanks to its adaptive geometry. To simplify and lighten the prototype, a simple mechanism with a light mechanical structure is proposed. Since the Center of Gravity (CoG) of the UAV moves according to the desired morphology of the system, a variation of the inertia and the allocation matrix occurs instantly. These dynamics parameters play an important role in the system control and its stability, representing a key difference compared with the classic quadrotor. Thus, a new generic model is developed, taking into account all these variations together with aerodynamic effects. To validate this model and ensure the stability of the designed UAV, an adaptive backstepping control strategy based on the change in the flight configuration is applied. MATLAB simulations are provided to evaluate and illustrate the performance and efficiency of the proposed controller. Finally, some experimental tests are presented.

Adaptive control strategy-based reference model for spacecraft motion trajectory

2014 ◽  
Vol 29 (5) ◽  
pp. 639-652 ◽  
Author(s):  
Zarina Samigulina ◽  
Olga Shiryayeva ◽  
Galina Samigulina ◽  
Hassen Fourati
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Reference Model ◽  
Motion Trajectory ◽  
Spacecraft Motion ◽  
Adaptive Control Strategy

Identification-Free Adaptive Separate Layer Water Injection Control Based on Expert Amendment

2010 ◽  
Vol 44-47 ◽  
pp. 1470-1475
Author(s):  
Feng Shan Wang ◽  
De Li Jia ◽  
Shu Jin Zhang ◽  
Chong Jiang Liu ◽  
De Kui Xu
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Water Injection ◽  
Strong Nonlinearity ◽  
Separate Layer ◽  
Injection Control ◽  
System Output ◽  
Adaptive Control Strategy ◽  
Injection Effect ◽  
Injection Technology

An identification-free adaptive control strategy based on expert amendment is proposed in this paper to solve the problem that it is difficult to establish mathematical model of water injection regulating process due to large time delay, strong nonlinearity and time variation in the flow control of separate layer water injection technology. In this control strategy, according to the past and current process information of water injection, the system output and trend can be estimated based on expert rules to amend the output of the identification-free adaptive control. The simulation result shows that this control strategy has perfect control performance and strong adaptability and it provides a feasible means for improving water injection effect.

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