Decentralized Adaptive Partitioned Approximation Control of Robotic Manipulators

Al-Shuka, Hayder F. N.; Song, Rui

doi:10.1007/978-3-319-78963-7_3

Cited by 4 publications

(3 citation statements)

References 13 publications

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“…It has been used to underactuated bipeds via time-scaling-based adaptive VDC. Decentralized control strategies have been proposed in [63][64][65]. This paper focuses on fully tracking decentralized adaptive approximation control, considering joint flexibility and input saturation, which will be briefly discussed in subsequent subsections.…”

Section: Tracking Control Of Desired Bipedal Joint Trajectoriesmentioning

confidence: 99%

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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Section: Tracking Control Of Desired Bipedal Joint Trajectoriesmentioning

confidence: 99%

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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“…Theorem 3. The motor-gear transmission-load system described by (6), the control laws expressed in (7) and (15), the update laws of (9) and (16), the desired voltage input of (22) with the update law of (23), and subject to…”

Section: (C) Motor Voltage Control Modementioning

confidence: 99%

“…Then, the adaptive laws of the weighting vector/matrix are updated based on Lyapunov stability. For more details on this topic, the reader is referred to [14][15][16][17][18][19][20][21] and the references therein.…”

Section: Introductionmentioning

confidence: 99%

FAT-based adaptive backstepping control of an electromechanical system with an unknown input coefficient

Al-Shuka¹

2021

FME Transactions

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This paper is focused on orthogonal function approximation technique FAT-based adaptive backstepping control of a geared DC motor coupled with a rotational mechanical component. It is assumed that all parameters of the actuator are unknown including the torque-current constant (i.e., unknown input coefficient) and hence a control system with three motor control modes is proposed: 1) motor torque control mode, 2) motor current control mode, and 3) motor voltage control mode. The proposed control algorithm is a powerful tool to control a dynamic system with an unknown input coefficient. Each uncertain parameter/term is represented by a linear combination of weighting and orthogonal basis function vectors. Chebyshev polynomial is used as a strong approximator for estimation of uncertainty. The designed control law includes three terms: a feedforward term, a feedback term and a robust term for compensation of modeling error. Lyapunov stability is used to prove the validity of the proposed controller and to derive the update laws for the weighting vectors of orthogonal Chebyshev approximators. A case study of a geared DC motor in connection with a rotating output load is simulated to prove the effectiveness of the proposed controller structure.

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Distributed SDRE control design for a class of nonlinear interconnected dynamic systems

Moradmand

Shafai

2022

Int. J. Dynam. Control

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Decentralized Adaptive Partitioned Approximation Control of Robotic Manipulators

Cited by 4 publications

References 13 publications

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

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

FAT-based adaptive backstepping control of an electromechanical system with an unknown input coefficient

Distributed SDRE control design for a class of nonlinear interconnected dynamic systems

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