Designing a Robust Control Scheme for Robotic Systems with an Adaptive Observer
This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust control scheme is designed to compensate the uncertainties occurring in the control system. Moreover, upper bound of the lumped uncertainty is essential in the design of the robust controller. However, the upper bound of the lumped uncertainty is difficult to obtain in practical applications. Therefore, an adaptive law is derived to adapt the value of the lumped uncertainty, and an adaptive observer-based robust task-space controller is obtained. In this paper, we proved that the proposed adaptive observer-based controller can guarantee that the task-space tracking error and also the observation error converge to zero. To demonstrate the effectiveness of the proposed method, simulation results are illustrated in this paper.
This paper investigates the robust decentralized nonlinear control of power flow in a power system using a new configuration of UPFC. This structure comprises two shunt converters and one series capacitor called as hybrid power flow controller (HPFC). A controller is designed via control Lyapunov function (CLF) and adaptive observer to surmount the problems of stability such as tracking desired...متن کامل
In this article, an adaptive fuzzy sliding mode control (AFSMC) scheme is derived for robotic systems. In the AFSMC design, the sliding mode control (SMC) concept is combined with fuzzy control strategy to obtain a model-free fuzzy sliding mode control. The equivalent controller has been substituted for by a fuzzy system and the uncertainties are estimated on-line. The approach of the AFSMC has...متن کامل
In most adaptive control systems with unknown parameters, the adaptive laws are usually designed based on the predictor/observer error or control error. In this paper, we propose a novel adaptive control scheme for nonlinear robotic systems by incorporating the parameter error into the adaptive law, which leads to guaranteed estimation performance. By carrying out filter operations, the robotic...متن کامل
This paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (PSO) algorithm. PSO algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ISE) as a performance criteria. In this paper, an improved PSO using logic is proposed to increase the convergenc...متن کامل
This paper presents a new observer design methodology for a time varying actuator fault estimation. A new linear matrix inequality (LMI) design algorithm is developed to tackle the limitations (e.g. equality constraint and robustness problems) of the well known so called fast adaptive fault estimation observer (FAFE). The FAFE is capable of estimating a wide range of time-varying actuator fault...متن کامل
Dynamic modeling and control of a 4 DOF robotic finger using adaptive-robust and adaptive-neural controllers
In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...متن کامل
دوره 32 شماره 2
صفحات 270- 276
تاریخ انتشار 2019-02-01
با دنبال کردن یک ژورنال هنگامی که شماره جدید این ژورنال منتشر می شود به شما از طریق ایمیل اطلاع داده می شود.