An acceleration-based hybrid learning-adaptive controller for robot manipulators

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Evren Han, Sanem and Ünel, Mustafa (2019) An acceleration-based hybrid learning-adaptive controller for robot manipulators. Transactions of the Institute of Measurement and Control (SI), 41 (8). pp. 2114-2123. ISSN 0142-3312 (Print) 1477-0369 (Online)

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Abstract

The robust periodic trajectory tracking problem is tackled by employing acceleration feedback in a hybrid learning-adaptive controller for n-rigid link robotic manipulators subject to parameter uncertainties and unknown periodic dynamics with a known period. Learning and adaptive feedforward terms are designed to compensate for periodic and aperiodic disturbances. The acceleration feedback is incorporated into both learning and adaptive controllers to provide higher stiffness to the system against unknown periodic disturbances and robustness to parameter uncertainties. A cascaded high gain observer is used to obtain reliable position, velocity and acceleration signals from noisy encoder measurements. A closed-loop stability proof is provided where it is shown that all system signals remain bounded and the proposed hybrid controller achieves global asymptotic position tracking. Results obtained from a high fidelity simulation model demonstrate the validity and effectiveness of the developed hybrid controller.
Item Type: Article
Uncontrolled Keywords: Acceleration feedback; hybrid control; adaptive control; learning control; high gain observer
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
Divisions: Integrated Manufacturing Technologies Research and Application Center
Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences > Academic programs > Manufacturing Systems Eng.
Faculty of Engineering and Natural Sciences
Depositing User: Mustafa Ünel
Date Deposited: 23 Aug 2019 16:23
Last Modified: 26 Apr 2022 10:07
URI: https://research.sabanciuniv.edu/id/eprint/37742

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