Symbiosis of RFPT-Based Adaptivity and the Modified Adaptive Inverse Dynamics Controller

Tar, J.K.; Bitó, J.F.; Várkonyi-Kóczy, Annamária R.; Dineva, Adrienn

doi:10.1007/978-3-319-05945-7_6

Cited by 2 publications

(1 citation statement)

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“…The control method can be used in various applications, for example, controlling industrial robots (Section 5) or in life sciences. The application of FPI-based control in robotics has been widely investigated and it was shown that it can be combined with various classical methods, for example, it can improve the stability of a Slotine-Li Adaptive Robot Controller [30] or improve the parameter identification process in case of Adaptive Inverse Dynamics Controller [31]. The adaptive deformation, which is the essence of FPI-based control, can guarantee a strictly prescribed behavior for the components of , which is highly desirable for robot control applications, where no overshoot in the joint coordinates is also necessary for safe operation.…”

Section: Introductionmentioning

confidence: 99%

Fractional order inspired iterative adaptive control

Varga,

Tar,

Horváth

2023

Robotica

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Although several studies have revealed that fractional order controllers usually outperform conventional integer-order control solutions, fractional order controllers are not yet widely applied in industrial applications due to their complex mathematical background. In this paper, further improvements of a simple weighted sum feedback design are introduced that imitates the behavior of a fractional order controller but is free from its various formal restrictions. The proposed control solution has the main characteristics of a fractional order controller, such as finite memory length, excellent transient response with no overshoot and robust behavior, but it is placed into a much simpler mathematical framework. In the current paper, a simple derivative term was incorporated in the design which made the controller’s output more stable by completely eliminating output chattering. The proposed control method was developed for a general second-order system. It was tested in a fixed point iteration-based adaptive control scenario, through simulations using a robotic example and on experimental basis as well, utilizing a simple one-degree-of-freedom electromechanical system. The presented experiments are the first systematic investigations of the fixed point iteration-based adaptive control method.

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Section: Introductionmentioning

confidence: 99%