Robust Adaptive Control of Robotic Manipulator with Input Time-varying Delay

Ahmed, Saim; Wang, Haoping; Aslam, Muhammad Shamrooz; Ghous, Imran; Qaisar, Irfan

doi:10.1007/s12555-018-0767-5

Cited by 25 publications

(8 citation statements)

References 32 publications

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“…Shi et al 45 combined the radial basis neural network with a compensation system to deal with the unknown nonlinearities and constant input delays in the higher-order nonlinear systems. Ahmed et al 46 utilized an adaptive control scheme to perform trajectory tracking tasks using an uncertain robotic manipulator in the presence of external disturbances and input delay. Ma et al 47 developed a novel compensation-based adaptive control scheme to handle the uncertainties, saturation, and input delay.…”

Section: Introductionmentioning

confidence: 99%

Event-triggered adaptive control for upper-limb robot-assisted passive rehabilitation exercises with input delay

Abbas

Narayan

Dwivedy

2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, an adaptive tracking control strategy is designed for uncertain electrically driven end-effector type upper-limb rehabilitation robots subject to an input delay and a limited bandwidth channel. This control scheme is implemented to perform upper-limb passive rehabilitation training for different subjects. Primarily, dynamic analysis of the rehabilitation robot is carried out using the Euler–Lagrange principle, which incorporates motor dynamics to allow the voltage-based control commands as desirable in practical implementations. Thereafter, an adaptive backstepping control law with input delay compensation is designed to estimate the unknown dynamical parameters of the rehabilitation robot during the training sessions. Furthermore, a Lyapunov-based triggering mechanism is developed to deal with the limited bandwidth challenge and reduce the transmissions over the network. The experimental validation is conducted for different scenarios, and a comparison study is carried out with two time-triggered control schemes to investigate the potential of the proposed approach. From the experimental runs and the comparative analysis, the proposed control scheme is found to achieve a promising tracking performance with input delay compensation. Moreover, a significant saving in the network resources is attained during the passive rehabilitation training of the subjects.

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Section: Introductionmentioning

confidence: 99%

Event-triggered adaptive control for upper-limb robot-assisted passive rehabilitation exercises with input delay

Abbas

Narayan

Dwivedy

2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Lu et al [69] proposed an adaptive noise cancellation strategy to reduce the noise Ahmed et al [67] solved the asymptotic stability and robust tracking control problems of uncertain robotic manipulator systems with external disturbances and time-varying delays by applying the proposed H∞ performance adaptive control and obtaining the linear matrix inequality (LMI) and delay-dependent condition of the adaptation law. Finally, a comparison of the simulation results verified the importance of the proposed method.…”

Section: Adaptive Control Methodsmentioning

confidence: 99%

Review and Comparison of Clearance Control Strategies

et al. 2022

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The nonlinearity of clearance has a significant influence on the performance of a system while ensuring the reliability of the variable-speed transmission, and hinders the development of the controlled object according to the predetermined trajectory. Aimed at the transmission clearance problem in different systems, this study summarizes the existing literature and provides a reference for the research and compensation of clearance characteristics. First, the influence of clearance on system performance is analyzed and summarized, and it is shown that the existence of clearance causes problems, such as system response delay and limited cycle oscillation. Then, the control strategies for studying clearance are introduced, which are mainly divided into the control strategy based on the clearance model and the non-clearance model control strategy, and these are respectively explained. Finally, some opinions are proposed for the perfection and development of future clearance nonlinear control theory. Ideas for realizing the suppression of the adverse effects of clearances have their characteristics, and in practical applications, the difficulty of implementation and cost control should be comprehensively considered. In the future, to cope with complex and changeable environments, the clearance control strategy will continue to be optimized.

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“…where Δϕ k � ϕ k − ϕ k is the estimation error of kinematic parameter. Substituting (9) and (10) into (1), the equations of dynamics can be expressed as…”

Section: Control Design Of Robot Manipulators With Unknownmentioning

confidence: 99%

“…Control of robot manipulators has attracted a great deal of attentions in the past few decades, due to its wide application in industrial manufacturing [1], military [2], medical [3], and other fields [4]. Some promising results studying robot manipulators have been reported in [5][6][7][8][9][10][11][12][13][14]. In [5], an adaptive strategy was developed for visual tracking problem of robot manipulators based on the image-based look-andmove structure, without using image velocity measurements.…”

Section: Introductionmentioning

confidence: 99%

Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties

et al. 2020

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In this paper, we mainly solve the adaptive control problem of robot manipulators with uncertain kinematics, dynamics, and actuators parameters, which has been a long-standing, yet unsolved problem in the robotics field, because of the technical difficulties in handling highly coupled effect between control torque and the mentioned uncertainties. To overcome the difficulties, we propose a new Lyapunov-based adaptive control methodology, which effectively fuses the inverse Jacobian technique and the actuator adaptation law, with which the chattering in tracking errors caused by actuator parameter perturbation is well suppressed. It is demonstrated that the asymptotic convergence of all closed-loop signals is guaranteed. Moreover, the effectiveness of our control scheme is illustrated through simulation studies.

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Robust Adaptive Control of Robotic Manipulator with Input Time-varying Delay

Cited by 25 publications

References 32 publications

Event-triggered adaptive control for upper-limb robot-assisted passive rehabilitation exercises with input delay

Event-triggered adaptive control for upper-limb robot-assisted passive rehabilitation exercises with input delay

Review and Comparison of Clearance Control Strategies

Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties

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