scholarly journals A New Recursive Composite Adaptive Controller for Robot Manipulators

2021 ◽  
Vol 2021 ◽  
pp. 1-7
Author(s):  
Jianfei Li ◽  
Yaobing Wang ◽  
Zhiyong Liu ◽  
Xin Jing ◽  
Chengwei Hu
Keyword(s):  
Adaptive Control ◽  
Euler Equations ◽  
Adaptive Algorithm ◽  
Robot Manipulators ◽  
Recursive Algorithm ◽  
Space Station ◽  
Adaptive Controller ◽  
Matrix Form ◽  
The Stability ◽  
Composite Adaptive Control

In this paper, a new recursive implementation of composite adaptive control for robot manipulators is proposed. We investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form, which, to our knowledge, is the first result on this point in the literature. The proposed algorithm has an amount of computation On, which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree manipulators. The manipulator of the Chinese Space Station is employed as a simulation example, and the results verify the effectiveness of this proposed recursive algorithm.

Recursive Composite Adaptation for Robot Manipulators

2012 ◽  
Vol 135 (2) ◽  
Author(s):  
Hanlei Wang
Keyword(s):  
Adaptive Control ◽  
Computational Complexity ◽  
Prediction Error ◽  
Robot Manipulators ◽  
Recursive Algorithm ◽  
Degree Of Freedom ◽  
Inertia Matrix ◽  
Adaptation Law ◽  
Six Degree Of Freedom ◽  
Composite Adaptive Control

In this paper, we investigate the recursive implementation of composite adaptive control for robot manipulators. Via exploitation of the relation between the inertia matrix and the Coriolis and centrifugal matrix, we present the recursive algorithm for the derivation of the filtered manipulator model, which, to our knowledge, is the first result on this point in the literature. With this filtered model, the prediction error of the filtered torque is obtained and injected to the direct adaptation, forming the well-known composite adaptation law, with an acceptable amount of computation O(n2). A six degree-of-freedom (DOF) manipulator is employed as a simulation example to show the performance and the computational complexity of the proposed recursive algorithm.

Design of an adaptive control law using trigonometric functions for robot manipulators

Robotica ◽  
2005 ◽  
Vol 23 (1) ◽  
pp. 93-99 ◽  
Author(s):  
Recep Burkan
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Tracking Error ◽  
Uncertain System ◽  
Control Law ◽  
Trigonometric Functions ◽  
Feed Forward ◽  
Inertia Parameters ◽  
The Stability ◽  
Adaptive Control Law

In this study, a new approach of adaptive control law for controlling robot manipulators using the Lyapunov based theory is derived, thus the stability of an uncertain system is guaranteed. The control law includes a PD feed forward part and a full dynamics feed forward compensation part with the unknown manipulator and payload parameters. The novelty of the obtained result is that an adaptive control algorithm is developed using trigonometric functions depending on manipulator kinematics, inertia parameters and tracking error, and both system parameters and adaptation gain matrix are updated in time.

Composite adaptive control of robot manipulators

Automatica ◽  
1989 ◽  
Vol 25 (4) ◽  
pp. 509-519 ◽  
Author(s):  
Jean-Jacques E. Slotine ◽  
Weiping Li
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Composite Adaptive Control

scholarly journals Adaptive Control for a Class of Nonlinear System with Redistributed Models

2012 ◽  
Vol 2012 ◽  
pp. 1-6 ◽  
Author(s):  
Haisen Ke ◽  
Jiang Li
Keyword(s):  
Adaptive Control ◽  
Nonlinear System ◽  
Adaptive Controller ◽  
Multiple Models ◽  
Multiple Model ◽  
Transient Performance ◽  
Feedback Form ◽  
System A ◽  
Multiple Model Adaptive Control ◽  
The Stability

Multiple model adaptive control has been investigated extensively during the last ten years in which the “switching” or “switching and tuning” have emerged as the mainly approaches. It is the “switching” that can improve the transient performance to some extent and also make it difficult to analyze the stability of the system with multiple models adaptive controller. Towards this goal, this paper develops a novel multiple models adaptive controller for a class of nonlinear system in parameter-strict-feedback form which not only improves the transient performance significantly, but also guarantees the stability of all the states of the closed-loop system. A simulation example is proposed to illustrate the effectiveness of the developed multiple models adaptive controller.

Adaptive Synchronization for a Class of Switched Chaotic Systems with Uncertainty

2012 ◽  
Vol 499 ◽  
pp. 273-277
Author(s):  
Feng Ying Wang ◽  
Li Ming Du ◽  
Gui Li ◽  
Jin Xiang Pian
Keyword(s):  
Adaptive Control ◽  
Chaotic Systems ◽  
Adaptive Controller ◽  
Adaptive Synchronization ◽  
Common Lyapunov Function ◽  
Arbitrary Switching ◽  
Lyapunov Function Method ◽  
Error Dynamic ◽  
Adaptive Control Strategy ◽  
The Stability

In this paper, a new adaptive control strategy for synchronization of switched chaotic systems with uncertainties is developed. Using adaptive control theory and common Lyapunov function method, An adaptive controller is constructed, and a sufficient condition is attainted for the stability of the error dynamic between drive and response switched chaotic systems with uncertainty under arbitrary switching. The results of simulation are given to show effectiveness of the proposed method.

Adaptive Control of Robot Manipulators Using a Popov Hyperstability Approach

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.

Superharmonics-Free Adaptive Semiactive Magneto-Rheological Suspension

2005 ◽  
Author(s):  
Xubin Song ◽  
Mehdi Ahmadian ◽  
Steve Southfield ◽  
Lane Miller
Keyword(s):  
Adaptive Control ◽  
Adaptive Algorithm ◽  
Vibration Suppression ◽  
Mr Damper ◽  
Adaptive Controller ◽  
System Stability ◽  
Structural Vibration ◽  
Vehicle Suspensions ◽  
Seat Suspension ◽  
Magneto Rheological

This paper focuses on laboratory implementation of a semiactive seat suspension with application of magneto-rheological (MR) dampers. We firstly introduce the nonlinear dynamics phenomena induced with the skyhook control that is now widely applied from structural vibration suppression to commercialized vehicle suspensions. However, superharmonic dynamics has not been clearly addressed in such vibration control systems. This paper tries to explain how superharmonics are created with skyhook controls through testing data analysis. Furthermore, in order to avoid this dynamics issue, this study implements a nonlinear model-based adaptive control into this MR damper based seat suspension. Based on a nonparametric MR damper model, the adaptive algorithm is expanded mathematically, and the system stability is discussed. Then in the following sections, this paper describes implementation procedures such as modeling simplification and validation, and testing results. Through the laboratory testing, the adaptive suspension is compared to two passive suspensions: hard-damping (stiff) suspension with max current of 1A to the MR damper, and low-damping (soft) suspension with minimum of 0A, while broadband random excitations are applied with respect to the seat suspension resonant frequency in order to test the adaptability of the adaptive control. Furthermore, mass and spring rate are assumed known and unknown for this adaptive controller to investigate the capability of this algorithm with the simplified model, respectively. Finally the comparison of testing results is presented to show the effectiveness and feasibility of the proposed adaptive algorithm to eliminate the superharmonics from the MR seat suspension.

Adaptive Control of Robot Manipulators Including Motor Dynamics

1995 ◽  
Vol 209 (3) ◽  
pp. 207-217
Author(s):  
H Yu ◽  
S Lloyd
Keyword(s):  
Adaptive Control ◽  
Control Structure ◽  
Robot Manipulators ◽  
Control Law ◽  
Task Space ◽  
Control Scheme ◽  
Control Schemes ◽  
The Stability ◽  
Adaptive Control Law ◽  
Motor Dynamics

An adaptive control scheme for robot manipulators including motor dynamics is proposed in this paper. The proposed scheme avoids the assumption that the values of motor parameters are known which is required in reference (13). An exponential control law is first developed under the assumption of no uncertainty. This forms a controller structure for the adaptive control. Using this control structure, a full-order adaptive control law is proposed to overcome parameter uncertainty for both robot link and motor. The stability analysis is in the Lyapunov stability sense. The method is further extended to the task space. Extensive simulations are performed to compare the different control schemes.

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.

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