A Novel Decentralized Adaptive Control Strategy for an Open-Chain Robotic Manipulator

Al-Shuka, Hayder F. N.; Corves, Burkhard

doi:10.3103/s0025654422601173

Cited by 2 publications

(1 citation statement)

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“…The key idea is that every uncertain term can be represented using orthogonal basis functions such as Chebyshev polynomials, Fourier series, neural network approximators, etc. ; see the studies [27][28][29][30] for more details. The adaptive law for the weighting coefficients is designed using Lyapunov theory to ensure stability based on the passivity condition.…”

Section: Introductionmentioning

confidence: 99%

Whole-Body Anti-Input Saturation Control of a Bipedal Robot

Al-Shuka,

Kaleel

2024

JESA

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Section: Introductionmentioning

confidence: 99%

Whole-Body Anti-Input Saturation Control of a Bipedal Robot

Al-Shuka,

Kaleel

2024

JESA

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Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control

Al-Shuka,

Kaleel,

Al-Bakri

2024

Journal of Robotics

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Bipedal robotic mechanisms are unstable due to the unilateral contact passive joint between the sole and the ground. Hierarchical control layers are crucial for creating walking patterns, stabilizing locomotion, and ensuring correct angular trajectories for bipedal joints due to the system’s various degrees of freedom. This work provides a hierarchical control scheme for a bipedal robot that focuses on balance (stabilization) and low-level tracking control while considering flexible joints. The stabilization control method uses the Newton–Euler formulation to establish a mathematical relationship between the zero-moment point (ZMP) and the center of mass (COM), resulting in highly nonlinear and coupled dynamic equations. Adaptive approximation-based feedback linearization control (so-called adaptive computed torque control) combined with an anti-windup compensator is designed to track the desired COM produced by the high-level command. Along the length of the support sole, the ZMP with physical restrictions serves as the control input signal. The viability of the suggested controller is established using Lyapunov’s theory. The low-level control tracks the intended joint movements for a bipedal mechanism with flexible joints. We use two control strategies: position-based adaptive approximation control and cascaded position-torque adaptive approximation control (cascaded PTAAC). The interesting point is that the cascaded PTAAC can be extended to deal with variable impedance robotic joints by using the required velocity concept, including the desired velocity and terms related to control errors such as position, force, torque, or impedance errors if needed. A 6-link bipedal robot is used in simulation and validation experiments to demonstrate the viability of the suggested control structure.

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A Novel Decentralized Adaptive Control Strategy for an Open-Chain Robotic Manipulator

Cited by 2 publications

References 20 publications

Whole-Body Anti-Input Saturation Control of a Bipedal Robot

Whole-Body Anti-Input Saturation Control of a Bipedal Robot

Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control

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