A Robust Adaptive Impedance Control Algorithm for Haptic Interfaces

In this paper, the adaptive impedance control proposed by Seul is studied in detail aiming at the disadvantages of traditional impedance control algorithm. In simulation experiment, above two methods are used to control the planar robot. The performance of merits of two algorithms is analyzed detailedly. From the final result of simulation, the adaptive impedance control algorithm has the performance of robustness, that is: it can perform well as though the mathematical model of robot is not accurate and it can work well in the bad working circumstance.

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A Novel Stable Robust Adaptive Impedance Control Scheme for Ankle Prostheses

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) ◽

10.1109/icrom.2017.8466160 ◽

2017 ◽

Author(s):

Siamak Heidarzadeh ◽

Mojtaba Sharifi ◽

Hassan Salarieh ◽

Aria Alasty

Keyword(s):

Impedance Control ◽

Control Scheme ◽

Adaptive Impedance Control ◽

Robust Adaptive

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Adaptive Impedance Control of a Novel Automated Umbilical System for Propellant Loading

Energies ◽

10.3390/en14164900 ◽

2021 ◽

Vol 14 (16) ◽

pp. 4900

Author(s):

Han Tao ◽

Dacheng Cong

Keyword(s):

Control Algorithm ◽

Impedance Control ◽

Hydraulic Drive ◽

State Feedback Control ◽

Dynamic Tracking ◽

Force Tracking ◽

High Measurement ◽

Nonlinear Compensation ◽

Adaptive Impedance Control ◽

And Control

In this paper, an automated umbilical system based on a 6-dof (degree of freedom) hydraulic parallel mechanism is proposed to automate the rocket propellant loading process. The mechanical structure, vision acquisition algorithm, and control algorithm used in the system are described in detail in the paper. To address the fluid nonlinearity problem of the hydraulic drive system, nonlinear compensation and three-state feedback control are used in the paper to enhance the performance of the hydraulic system. For the problem of force tracking during the docking process between the umbilical system and the rocket, an adaptive impedance control algorithm based on the online environmental parameter estimation is proposed in the paper, which effectively reduces the contact force during the docking process. The dynamic tracking and docking experiments indicate that this automated umbilical system features rapid reaction speed, high measurement precision, and good flexibility, which can be used to realize the auto-mating and following task for the propellant loading robot in a hazardous environment.

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Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm

Journal of Marine Science and Technology ◽

10.1007/s00773-021-00813-1 ◽

2021 ◽

Author(s):

Hossein Nejatbakhsh Esfahani ◽

Rafal Szlapczynski

Keyword(s):

Dynamic Programming ◽

Time Delay ◽

Control Algorithm ◽

Approximate Dynamic Programming ◽

Robust Adaptive Control ◽

Stochastic Disturbances ◽

Time Delay Control ◽

Model Free ◽

Delay Control ◽

Robust Adaptive

AbstractThis paper proposes a hybrid robust-adaptive learning-based control scheme based on Approximate Dynamic Programming (ADP) for the tracking control of autonomous ship maneuvering. We adopt a Time-Delay Control (TDC) approach, which is known as a simple, practical, model free and roughly robust strategy, combined with an Actor-Critic Approximate Dynamic Programming (ACADP) algorithm as an adaptive part in the proposed hybrid control algorithm. Based on this integration, Actor-Critic Time-Delay Control (AC-TDC) is proposed. It offers a high-performance robust-adaptive control approach for path following of autonomous ships under deterministic and stochastic disturbances induced by the winds, waves, and ocean currents. Computer simulations have been conducted under two different conditions in terms of the deterministic and stochastic disturbances and all simulation results indicate an acceptable performance in tracking of paths for the proposed control algorithm in comparison with the conventional TDC approach.

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