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Adaptive control for an uncertain robotic manipulator with input saturations
T.-T. Tran,S.S.Ge,W.He
0
(Center for Robotics and School of Automation Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu Sichuan 611731, China;Faculty of Electronic Technology, Industrial University of Ho Chi Minh City)
摘要:
In this paper, we address the control problem of an uncertain robotic manipulator with input saturations. For this purpose, a model reference adaptive control like (MRAC-like) approach is proposed to solve the problem. The model reference enjoyed input to state stable (ISS) property and driven by the current control signal is introduced. A combination of the regressor and non-regressor based approaches is used to estimate the uncertain parameters. The resulting controller ensures that the control signals satisfy the input saturations. In addition, the semi-global uniform ultimate boundedness of the closed-loop system is guaranteed and the tracking error converges to the compact set which depends on the predetermined bound of the control inputs. Simulation on a planar elbow manipulator with two joints is provided to illustrate the effectiveness of the proposed control design.
关键词:  Robotic manipulator, adaptive control, uncertain parameter, input saturation, trajectory tracking
DOI:
Received:June 05, 2015Revised:January 22, 2016
基金项目:
Adaptive control for an uncertain robotic manipulator with input saturations
T.-T. Tran,S. S. Ge,W. He
(Center for Robotics and School of Automation Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu Sichuan 611731, China;Faculty of Electronic Technology, Industrial University of Ho Chi Minh City;Center for Robotics and School of Automation Engineering, University of Electronic Science and Technology of China (UESTC); Department of Electrical and Computer Engineering, National University of Singapore;School of Automation and Electrical Engineering, University of Science and Technology Beijing)
Abstract:
In this paper, we address the control problem of an uncertain robotic manipulator with input saturations. For this purpose, a model reference adaptive control like (MRAC-like) approach is proposed to solve the problem. The model reference enjoyed input to state stable (ISS) property and driven by the current control signal is introduced. A combination of the regressor and non-regressor based approaches is used to estimate the uncertain parameters. The resulting controller ensures that the control signals satisfy the input saturations. In addition, the semi-global uniform ultimate boundedness of the closed-loop system is guaranteed and the tracking error converges to the compact set which depends on the predetermined bound of the control inputs. Simulation on a planar elbow manipulator with two joints is provided to illustrate the effectiveness of the proposed control design.
Key words:  Robotic manipulator, adaptive control, uncertain parameter, input saturation, trajectory tracking