Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators

Hùng, Nguyễn Văn; Tuan, Hoang Duong; Narikiyo, Tatsuo; Apkarian, Pierre

doi:10.1109/tcst.2007.903088

Cited by 49 publications

(30 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The parameter v si is the Stribeck parameter. In the simulations, the friction coefficients and the Stribeck parameter for the master and the slave are chosen as follows [7]:…”

Section: Simulation Studymentioning

confidence: 99%

See 1 more Smart Citation

Disturbance observer-based control of non-linear haptic teleoperation systems

Mohammadi

Tavakoli

Marquez

2011

IET Control Theory Appl.

View full text Add to dashboard Cite

Teleoperation systems are subject to different types of disturbances. Such disturbances, when unaccounted for, may cause poor performance and even instability of the teleoperation system. This paper presents a novel nonlinear bilateral control scheme using the concept of disturbance observer based control for nonlinear teleoperation systems. Lumping the effects of dynamic uncertainties and external disturbances into a single disturbance term enables us to design a disturbance observer in order to suppress these disturbances and alleviate their adverse effects on the teleoperation system. A disturbance observer based control law is proposed for nonlinear teleoperation systems which will guarantee global asymptotic force tracking and global exponential position and disturbance tracking when the bilateral teleoperation system is experiencing slow-varying disturbances. In the case of fastvarying disturbances, the tracking errors are shown to be globally uniformly ultimately bounded, with an ultimate bound that can be made as small as desired using the design parameters. Simulations are presented to show the effectiveness of the proposed approach.

show abstract

“…The parameter v si is the Stribeck parameter. In the simulations, the friction coefficients and the Stribeck parameter for the master and the slave are chosen as follows [7]:…”

Section: Simulation Studymentioning

confidence: 99%

“…Physical robots, however, are nonlinear systems subject to different uncertainties and disturbances, such as joint frictions, unknown payloads, etc. [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer-based control of non-linear haptic teleoperation systems

Mohammadi

Tavakoli

Marquez

2011

IET Control Theory Appl.

View full text Add to dashboard Cite

show abstract

“…In practice, most control plants are multivariable and are characterized by widely changing environmental disturbances and various work conditions. Thus, it is important to investigate effective robust adaptive control techniques for uncertain MIMO nonlinear systems [1][2][3][4][5][6][7]. Robust adaptive control based on universal function approximators (such as fuzzy systems and neural networks) has been extensively studied [8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy tracking control for a class of uncertain MIMO nonlinear systems using disturbance observer

Chen

2012

Sci. China Inf. Sci.

View full text Add to dashboard Cite

Citation: CHEN, M., CHEN, W-H. and WU, Q-X., 2014. Adaptive fuzzy tracking control for a class of uncertain MIMO nonlinear systems using disturbance observer. Science China Information Sciences, 57 (1), pp 1-13.Additional Information:• Loughborough, Leicestershire LE11 3TU, UK Abstract: In this paper, adaptive fuzzy tracking control is proposed for a class of multi-input and multi-output (MIMO) nonlinear systems in the presence of system uncertainties, unknown nonsymmetric input saturation and unknown external disturbances. For the MIMO nonlinear system, the time-varying external disturbance cannot be directly measured which is estimated via disturbance observer. By choosing the appropriate gain matrix, disturbance observer can approximate the unknown disturbance well and the estimate error converges to a compact set. And then, fuzzy logic systems (FLS) are used to approximate the system uncertainty of MIMO nonlinear systems.Based on outputs of disturbance observer and FLS, adaptive tracking control is presented for the uncertain MIMO nonlinear system. Considering the unknown non-symmetric input saturation and control singularity case, adaptive fuzzy tracking control is developed via disturbance observer and FLS approximation technique. The effects of unknown input saturation and control singularity are treated as a part of system compound disturbance which is estimated using disturbance observer.Under the proposed tracking control techniques, semi-global uniform boundedness of the closed-loop signals is guaranteed via Lyapunov analysis. Numerical simulation results are presented to illustrate the effectiveness of the proposed tracking control schemes.

show abstract

“…However, the result in [22] can only be applied to setpoint regulation. For trajectory tracking, Hung et al [23] developed an adaptive controller to compensate for NLP uncertainties in robot manipulators. Nonetheless, the results in [23] have only been applied to motion control of a single robot in free motion.…”

Section: Introductionmentioning

confidence: 99%

“…For trajectory tracking, Hung et al [23] developed an adaptive controller to compensate for NLP uncertainties in robot manipulators. Nonetheless, the results in [23] have only been applied to motion control of a single robot in free motion. So far, there has been no attempt at simultaneous motion and force control of a master-slave teleoperation system with NLP dynamic uncertainties, in which the master and the slave are allowed to make contact with the human operator and the environment, respectively.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Control of Teleoperation Systems With Linearly and Nonlinearly Parameterized Dynamic Uncertainties

Liu

Tavakoli

2012

Journal of Dynamic Systems, Measurement, and Control

View full text Add to dashboard Cite

Existing work concerning adaptive control of uncertain teleoperation systems only deals with linearly parameterized (LP) dynamic uncertainties. Typical teleoperation system dynamics, however, also posses terms with nonlinearly parameterized (NLP) structures. An example of such terms is friction, which is ubiquitous in the joints of the master and slave robots of practical teleoperation systems. Uncertainties in the NLP dynamic terms may lead to significant position and force tracking errors if not compensated for in the control scheme. In this paper, adaptive controllers are designed for the master and slave robots with both LP and NLP dynamic uncertainties. Next, these controllers are incorporated into the 4-channel bilateral teleoperation control framework to achieve transparency. Then, transparency of the overall teleoperation is studied via a Lyapunov function analysis. Simulation studies demonstrate the effectiveness of the proposed adaptive scheme when exact knowledge of the LP and NLP dynamics is unavailable.

show abstract

Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators

Cited by 49 publications

References 8 publications

Disturbance observer-based control of non-linear haptic teleoperation systems

Disturbance observer-based control of non-linear haptic teleoperation systems

Adaptive fuzzy tracking control for a class of uncertain MIMO nonlinear systems using disturbance observer

Adaptive Control of Teleoperation Systems With Linearly and Nonlinearly Parameterized Dynamic Uncertainties

Contact Info

Product

Resources

About