Adaptive Jacobian Tracking Control of Robots With Uncertainties in Kinematic, Dynamic and Actuator Models

Cheah, Chien Chern; Liu, C.; Slotine, Jean‐Jacques E.

doi:10.1109/tac.2006.876943

Cited by 199 publications

(169 citation statements)

References 29 publications

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“…In this section, we consider a two-link, revolute-joint robot to illustrate three typical examples that involve kinematic uncertainties [17][18].…”

Section: Examples Of Kinematic Uncertaintiesmentioning

confidence: 99%

“…More details about rehabilitation robot can be found in [28] and here we focus on its dynamics and kinematics (24)- (25) and in the kinematic update laws (28)-(29) are transformed into another equivalent forms [17] as: (…”

Section: Fig 9 Experimental Teleoperation Setupmentioning

confidence: 99%

“…Although interesting adaptive controllers coping with kinematic uncertainties were proposed in [17,18], the results dealt with a single robot and not a teleoperation system; they did not directly address to the case of a teleoperation system in which the master/slave make contact with the operator/environment and bilateral control is involved. The contributions of this paper is in proposing a nonlinear adaptive control method for dynamically and kinematically uncertain teleoperation systems that works without the exact knowledge of the kinematics of the master or the slave, and without the exact knowledge of the dynamics of the master, the slave, the operator, or the environment.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive control of uncertain nonlinear teleoperation systems

2014

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Kinematic parameters of a robotic manipulator are hard to measure precisely and the varying size and shape of tools held by the robot end-effector introduce further kinematic uncertainties.Moreover, the exact knowledge of the robot nonlinear dynamics may be unavailable due to model uncertainties. While adaptive master-slave teleoperation control strategies in the literature consider the dynamic uncertainties in the master and the slave robots, they stop short of accounting for the robots' kinematic uncertainties, which can undermine the transparency of the teleoperation system. In this paper, for a teleoperation system that is both dynamically and kinematically uncertain, we propose novel nonlinear adaptive controllers that require neither the exact knowledge of the kinematics of the master and the slave nor the dynamics of the master, the slave, the human operator, and the environment. Therefore, the proposed controllers can provide the master and slave robots with a high degree of flexibility in dealing with unforeseen changes and uncertainties in their kinematics and dynamics. A Lyapunov function analysis is conducted to mathematically prove the stability and master-slave asymptotic position tracking. The validity of the theoretical results is verified through simulations as well as experiments on a bilateral teleoperation test-bed of rehabilitation robots.

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“…In this section, we consider a two-link, revolute-joint robot to illustrate three typical examples that involve kinematic uncertainties [17][18].…”

Section: Examples Of Kinematic Uncertaintiesmentioning

confidence: 99%

Section: Fig 9 Experimental Teleoperation Setupmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive control of uncertain nonlinear teleoperation systems

2014

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“…In most applications, the end-effector path is determined in task space and following relation is used to map it into joint space [20][21][22]. …”

Section: Propertymentioning

confidence: 99%

Design and Stability Analysis of a Robust Impedance Control System for a Robot Manipulator

Soltanpour¹,

Shafiei²,

Sattari³

2010

SIC

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This paper presents a novel impedance control approach for a robot manipulator and analyzes its stability. In order to achieve desired impedance for the robot manipulator subject to applied force on the end-effector, a hybrid position/force control in the task space is developed. For this purpose, the both cases of known and unknown bounds of uncertainties are considered to design the nonlinear robust controller. It is proven that the closed loop control system shows global exponential stability under known bounds of uncertainties. In the second case, an adaptive controller is used to estimate the bounds of uncertainties. It is then proven that the closed loop system has a global asymptotically stability. The case study is a two-link elbow manipulator which is simulated. The simulation results confirm good performances of proposed control approaches.

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“…The approach in [11] applies a matrix decomposition technique to avoid singularities in the control law. An adaptive tracking controller is developed in [12] for nonlinear robot systems with kinematic, dynamic, and actuator uncertainties where the input uncertainty is a constant diagonal matrix. In our previous work in [13], an ADI controller is developed to achieve semi-global asymptotic tracking of an aircraft reference model where the aircraft dynamics contain column deficient nonsymmetric input uncertainty.…”

mentioning

confidence: 99%

Global Adaptive Output Feedback Tracking Control of an Unmanned Aerial Vehicle

MacKunis

Wilcox

Kaiser

et al. 2010

IEEE Trans. Contr. Syst. Technol.

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Abstract-An output feedback (OFB) dynamic inversion control strategy is developed for an unmanned aerial vehicle (UAV) that achieves global asymptotic tracking of a reference model. The UAV is modeled as an uncertain linear time-invariant (LTI) system with an additive bounded nonvanishing nonlinear disturbance. A continuous tracking controller is designed to mitigate the nonlinear disturbance and inversion error, and an adaptive law is utilized to compensate for the parametric uncertainty. Global asymptotic tracking of the measurable output states is proven via a Lyapunovlike stability analysis, and high-fidelity simulation results are provided to illustrate the applicability and performance of the developed control law.Index Terms-Adaptive control, dynamic inversion (DI), Lyapunov methods, nonlinear control, robust control.

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Adaptive Jacobian Tracking Control of Robots With Uncertainties in Kinematic, Dynamic and Actuator Models

Cited by 199 publications

References 29 publications

Adaptive control of uncertain nonlinear teleoperation systems

Adaptive control of uncertain nonlinear teleoperation systems

Design and Stability Analysis of a Robust Impedance Control System for a Robot Manipulator

Global Adaptive Output Feedback Tracking Control of an Unmanned Aerial Vehicle

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