Decentralised adaptive control of cooperating Robotic manipulators with disturbance observers

Li, Zhijun; Deng, Shuming; Su, Chun‐Yi; Li, Guanglin; Zhou, Yuhang; Liu, Yan Jun; Wang, Min

doi:10.1049/iet-cta.2013.0611

Cited by 42 publications

(28 citation statements)

References 27 publications

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“…Besides, the slave robot often interacts with unknown environments, which also leads to uncertainties in the robot manipulators as well. Adaptive control is an effective technique for handling structured uncertainties and has obtained widespread applications in manipulators, where some recent results can be found in [1,2,3,4]. Classical adaptive control usually uses tracking error feedback to update the adaptive estimates.…”

Section: Introductionmentioning

confidence: 99%

Composite adaptive control for bilateral teleoperation systems without persistency of excitation

Yin

Zhang

et al. 2020

Journal of the Franklin Institute

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Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong persistentexcitation (PE) condition should be satisfied to guarantee the parameter convergence. This paper proposes a novel composite adaptive control to guarantee parameter convergence without PE condition for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays. The stability criteria of the closed-loop teleoperation system are given in terms of linear matrix inequalities. New tracking performance measures are proposed to evaluate the position tracking between the master and the slave. Simulation studies are given to show the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Composite adaptive control for bilateral teleoperation systems without persistency of excitation

Yin

Zhang

et al. 2020

Journal of the Franklin Institute

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“…Motion control systems usually work at unknown environment, and inevitably, they suffer from system uncertainties and external disturbances, which will affect the control performance or even make the system unstable [1]. To deal with this problem, numerous approaches have been proposed, such as sliding mode control [2][3][4], adaptive control [5][6][7], robust control [8][9][10], and intelligent control [11][12][13]. These control methods can more or less deal with the system uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems

Zhang¹,

Wang²,

Zhang

et al. 2016

Mathematical Problems in Engineering

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Robust disturbance rejection control methodology is proposed for Euler-Lagrange systems, and parameters optimization strategy for the observer is explored. First, the observer based disturbance rejection methodology is analyzed, based on which the disturbance rejection paradigm is proposed. Thus, a disturbance observer (DOB) with partial feedback linearization and a low-pass filter is proposed for nonlinear dynamic model under relaxed restrictions of the generalized disturbance. Then, the outer-loop backstepping controller is designed for desired tracking performance. Considering that the parameters of DOB cannot be obtained directly based on Lyapunov stability analysis, parameter of DOB is optimized under standardH∞control framework. By analyzing the influence of outer-loop controller on the inner-loop observer parameter, robust stability constraint is proposed to guarantee the robust stability of the closed-loop system. Experiment on attitude tracking of an aircraft is carried out to show the effectiveness of the proposed control strategy.

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“…Humans are able to manipulate objects with various geometries [1][2][3][4]. One of the important reason is that humans can identify graspable components on the objects for special tasks and this identification is generalized on objects with similar shapes.…”

Section: Introductionmentioning

confidence: 99%

An effective method for grasp planning on objects with complex geometry combining human experience and analytical approach

Sun

Ban

2016

Sci. China Inf. Sci.

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Analytical geometry method of planetary gear trains SCIENCE CHINA Technological Sciences 55, 1007 (2012); Exploring the influence of the built environment on human experience through a neuroscience approach: A systematic review Frontiers of Architectural Research 9, 236 (2020); Geometry-based distributed arc-consistency method for multiagent planning and scheduling SCIENCE CHINA Technological Sciences 62, 133 (2019); A new approach to dissecting complex traits by combining quantitative trait transcript (QTT) mapping and diallel cross analysis Chinese Science Bulletin 57, 2695 (2012);. RESEARCH PAPER. SCIENCE CHINA Information Sciences

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Decentralised adaptive control of cooperating Robotic manipulators with disturbance observers

Cited by 42 publications

References 27 publications

Composite adaptive control for bilateral teleoperation systems without persistency of excitation

Composite adaptive control for bilateral teleoperation systems without persistency of excitation

Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems

An effective method for grasp planning on objects with complex geometry combining human experience and analytical approach

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