Robust Regressor-Free Control of Rigid Robots Using Function Approximations

Ebeigbe, Donald; Nguyen, Thang; Richter, Hanz; Simon, Dan

doi:10.1109/tcst.2019.2914634

Cited by 17 publications

(3 citation statements)

References 42 publications

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“…In recent decades, nonlinear system control has received great concern from researchers due to its wide application; for instance, the optimization problem of prescribed performance tracking control was investigated for a class of strictly feedback nonlinear systems [18]; some new regressor-free adaptive controllers were proposed for cooperative robotic arms [19]. There always exist stochastic disturbances in practical physical plants [20].…”

Section: Introduction and Related Work 1introductionmentioning

confidence: 99%

Adaptive Fuzzy Backstepping Control for Itô-Type Nonlinear Switched Systems Subject to Unknown Hysteresis Input

Wan,

2024

Mathematics

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The adaptive fuzzy backstepping control problem is studied for Itô-type nonlinear switched systems subject to unknown hysteresis input. Compared with existing works, the unknown hysteresis and stochastic disturbances are considered in the pure-feedback switched systems. The mean value theorem tackles the non-affine functions. The backstepping technique introduces an auxiliary virtual controller. In addition, the Nussbaum function is employed to solve the difficulty caused by the unknown hysteresis under arbitrary switching. Based on a fuzzy logic system and backstepping technique, a new adaptive control proposal is obtained, which ensures that the system states satisfy semiglobally uniformly ultimately bounded (SGUUB) in probability and that the tracking error converges to a region of the origin. Finally, we provide two examples to show the validity of the presented scheme.

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Section: Introduction and Related Work 1introductionmentioning

confidence: 99%

Adaptive Fuzzy Backstepping Control for Itô-Type Nonlinear Switched Systems Subject to Unknown Hysteresis Input

Wan,

2024

Mathematics

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“…40 Furthermore, a novel robust FAT control approach for the robot manipulator was presented with no update laws, whose dynamics was described based on the Lagrange equation method. 41 However, most of the control strategies are implemented on an elastic joint robot whose elastic mechanism is mainly composed of the springs, and the compliance is mainly represented by the simple stiffness matrix. Due to the inerter has good vibration absorption capability and expands mechanical realizations, when the inerters, springs and dampers are simultaneously applied to the elastic joint robot, the relation among the torque and rotary angle of the elastic joint becomes nonlinear and differential, that is, second-order differential equations, the dynamics of the robot will be more complicated and coupled.…”

Section: Introductionmentioning

confidence: 99%

“…40 Furthermore, a novel robust FAT control approach for the robot manipulator was presented with no update laws, whose dynamics was described based on the Lagrange equation method. 41…”

Section: Introductionmentioning

confidence: 99%

Adaptive passive admittance control of a compliant collaborative robot

Xu,

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Compliance of the collaborative robots plays an important role in human-robot interaction. Due to the complex nonlinearities caused by the compliance, and parameter uncertainties, good performance control method for the compliant collaborative robot is always a challenging task. Therefore, to overcome the challenge of the compliance, and uncertain dynamics, this paper develops an adaptive passive admittance control (APAC) approach for a novel compliant collaborative robot, whose compliant mechanism is constituted of the inerters, springs, and dampers. First, through force-current analogy between mechanical network and electrical network, the compliance of the proposed collaborative robot with the inerters, springs, and dampers, is represented by a novel and simplified admittance matrix to facilitate dynamics model of the proposed collaborative robot. Then, for the proposed compliant collaborative robot, an APAC strategy is presented to dispose of the uncertain parameters of the dynamics. The inertial matrix, Coriolis matrix, admittance matrix, and gravity vector of the compliant collaborative robot are expressed as linear representation of orthogonal basis functions by using function approximation technique (FAT). The boundedness of the robot dynamics is proved by detailed stability analysis which uses Lyapunov function. Finally, simulation results indicate that the proposed APAC of the compliant collaborative robot is effective.

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