Hybrid adaptive‐robust control for a robot manipulator

Abstract

In this paper we present a hybrid adaptive-robust controller to achieve trajectory following for a robot manipulator. The controller consists of two parts: a proportional-derivative (PD) feedback loop and an adaptive-robust law for the manipulator dynamics. An advantage of this method is that our controller takes advantage of the manipulator dynamic structure to allow the designer to select a controller that is a combination of an adaptive approach and a robust-adaptive approach.

Parameter estimation and upper bounding adaptation in adaptive-robust control approaches for trajectory control of robots

“…Parameter estimation is utilized by the adaptive control law, while robust control input compensates for disturbances due to unmodelled dynamics and increase robustness to uncertainty. The new parameter estimation law works like a control law (11). The updating algorithm stops when it reaches its known bounds and resumes updating when 2(e Ϫ 1/2 ͵ Y T dt Ϫ e Ϫ ͵ Y T dt ) changes sign.…”

“…Sampling time is selected as 0.01 sec. For the comparison of the new control law with the known controller (11), each control algorithm with the same controller K and ⌳ is applied to the model system for the same trajectory in order to analyse performance of each control law. For that purpose, the matrix K and ⌳ are chosen to be identical for the two controllers with K = diag (80 80), ⌳ = diag (80 80) and K = diag (100 100) and ⌳ = diag (100 100).…”

Intelligent systems:

“…• The ability of encapsulate various problems into a single model led designers to the decision to use adaptive robust control systems similar to the one presented mathematically in [605].…”

Object Manipulation Based on Robust and Adaptive Control by Hemispherical Soft Fingertips

“…Feedback compensation of the robust controller is generated in order to decrease errors between the desired trajectory and real trajectory. The basic idea of combining both controllers is based on a reference (Dawson et al (1992); Nakada et al (2006)). To our knowledge, these controllers were studied for a robot manipulator, and were not applied to a multi-fingered robot hand with soft fingertips.…”