Title :
Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators
Author :
Hung, N.V.Q. ; Tuan, H.D. ; Narikiyo, T. ; Apkarian, P.
Author_Institution :
Toyota Motor Corp., Shizuoka
fDate :
5/1/2008 12:00:00 AM
Abstract :
In this brief, a new adaptive control framework to compensate for uncertain nonlinear parameters in robot manipulators is developed. The designed adaptive controllers possess a linear parameter structure, guarantee global boundedness of the closed-loop system as well as tracking of a given trajectory within any prescribed accuracy. Our design approach takes advantage of a Lipschitzian property with respect to the plant nonlinear parameters. The outcome is that a very broad class of nonlinearly parameterized adaptive control problems for robot manipulators can be solved using this technique. Another feature of the proposed method is the design of low-dimensional estimator, even 1-D if desired, independently of the unknown parameter vector dimension. Simulations and experiments in friction compensation task for low-velocity tracking of a 2 degree-of-freedom planar robot demonstrate the viability of the technique and emphasize its advantages relatively to more classical approaches.
Keywords :
adaptive control; closed loop systems; compensation; control system synthesis; linear systems; manipulators; nonlinear systems; parameter estimation; uncertain systems; Lipschitzian property; adaptive controller design; closed-loop system; linear parameter structure; robot manipulators; uncertain nonlinear parameter compensation; Adaptive control; friction compensation; motion control; nonlinearities; parameter estimation; robot control; uncertain systems;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2007.903088