Development of an adaptive learning PD control for robotic system applications

Author

Ouyang, P.R. ; Zhang, W.J.

Author_Institution

Dept. of Mech. Eng., Saskatchewan Univ., Saskatoon, Sask., Canada

Volume

1

fYear

2004

fDate

2-4 Sept. 2004

Firstpage

394

Abstract

A novel control algorithm, called the adaptive learning PD (AL-PD) control method, is proposed. This control algorithm consists of a PD control as a basic feedback loop and a feedforward loop that is generated from the previous control state in an iterative mode. The stability analysis of AL-PD control is proved that shows that the AL-PD control can guarantee asymptotic convergence for trajectory tracking. Fixed gain PD control, nonlinear PD (NPD) control, and AL-PD control are applied to the control of two kinds of robotic systems. A comparative study of three PD-based controllers is conducted to understand how different control schemes affect the trajectory tracking performance. It is confirmed through simulation that the proposed AL-PD control is very promising for improving the tracking performance of robotic systems.

Keywords

PD control; adaptive control; asymptotic stability; control system synthesis; feedback; feedforward; iterative methods; learning systems; manipulator dynamics; nonlinear control systems; position control; adaptive learning PD control; asymptotic convergence; control system synthesis; feedback loop; feedforward loop; fixed gain PD control; iterative mode; manipulator dynamics; nonlinear PD control; robotic systems; stability analysis; trajectory tracking; Adaptive control; Control systems; Feedback loop; Iterative algorithms; Nonlinear control systems; PD control; Programmable control; Robots; Stability analysis; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on

Print_ISBN

0-7803-8633-7

Type

conf

DOI

10.1109/CCA.2004.1387243

Filename

1387243