Ekstremum Arama Temelli Hata Tahmini ile Esnek Bağlantılı Robot Kolunun Çıkış Geri Besleme Kontrolü

Abstract

In this paper, an extremum seeking fault estimation based output feedback controller is proposed for the control of flexible-joint robot manipulator. First, using the approximate nonlinear robot model, a extremum seeking controller is designed to minimize the tracking error via output feedback. Then, in order to prevent the effects of faults, disturbances or unknown dynamics, an extremum seeking based fault estimator is proposed. In order to show that the advantage of the proposed configuration, a flexible-joint manipulator with unknown fault is controlled both in a numerical simulation and real-time experiment. An artificial payload is applied to the end-effector in a simulation environment. But, in the real-time experiment, an additional payload attached to the end effector when it is continuing the process. The approximate model of the robot manipulator is obtained by the state-space identification. As a result using the proposed estimation and controller, acceptable tracking and estimation results are obtained both in numerical and real-time experiments for future applications.