A Robust Adaptive Model Reference Impedance Control of a Robotic Manipulator With Actuator Saturation

2020 ◽  
Vol 50 (2) ◽  
pp. 409-420 ◽  
Author(s):  
Elaheh Arefinia ◽  
Heidar Ali Talebi ◽  
Ali Doustmohammadi
Keyword(s):  
Actuator Saturation ◽  
Impedance Control ◽  
Robotic Manipulator ◽  
Adaptive Model ◽  
Model Reference ◽  
Robust Adaptive

scholarly journals A model reference adaptive variable impedance control method for robot

2021 ◽  
Vol 336 ◽  
pp. 03005
Author(s):  
Xinchao Sun ◽  
Lianyu Zhao ◽  
Zhenzhong Liu
Keyword(s):  
Real Time ◽  
Tracking Control ◽  
Control Method ◽  
Impedance Control ◽  
Tracking Error ◽  
Reference Trajectory ◽  
Control Parameters ◽  
Model Reference ◽  
Force Tracking ◽  
Model Reference Adaptive

As a simple and effective force tracking control method, impedance control is widely used in robot contact operations. The internal control parameters of traditional impedance control are constant and cannot be corrected in real time, which will lead to instability of control system or large force tracking error. Therefore, it is difficult to be applied to the occasions requiring higher force accuracy, such as robotic medical surgery, robotic space operation and so on. To solve this problem, this paper proposes a model reference adaptive variable impedance control method, which can realize force tracking control by adjusting internal impedance control parameters in real time and generating a reference trajectory at the same time. The simulation experiment proves that compared with the traditional impedance control method, this method has faster force tracking speed and smaller force tracking error. It is a better force tracking control method.

scholarly journals DESIGNING A ROBUST ADAPTIVE TRACKING BACKTEPPING CONTROLLER CONSIDERING ACTUATOR SATURATION FOR A WHEELED MOBILE ROBOT TO COMPENSATE UNKNOWN SLIPPAGE

2020 ◽  
Vol 36 (2) ◽  
pp. 187-204
Author(s):  
Chung Le ◽  
Kiem Nguyen Tien ◽  
Linh Nguyen ◽  
Tinh Nguyen ◽  
Tung Hoang
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Basis Function ◽  
Actuator Saturation ◽  
Wheeled Mobile Robot ◽  
Technical Solution ◽  
Control Approach ◽  
Adaptive Tracking ◽  
Simulation Results ◽  
Robust Adaptive

This article highlights a robust adaptive tracking backstepping control approach for a nonholonomic wheeled mobile robot (WMR) by which the bad problems of both unknown slippage and uncertainties are dealt with. The radial basis function neural network (RBFNN) in this proposed controller assists unknown smooth nonlinear dynamic functions to be approximated. Furthermore, a technical solution is also carried out to avoid actuator saturation. The validity and efficiency of this novel controller, finally, are illustrated via comparative simulation results.

scholarly journals Robust Adaptive Model Predictive Building Climate Control

2017 ◽  
Vol 50 (1) ◽  
pp. 1871-1876 ◽  
Author(s):  
Marko Tanaskovic ◽  
David Sturzenegger ◽  
Roy Smith ◽  
Manfred Morari
Keyword(s):  
Adaptive Model ◽  
Climate Control ◽  
Robust Adaptive

Robust Adaptive Coordination Controller for a Spacecraft Equipped with a Robotic Manipulator

2016 ◽  
Vol 39 (12) ◽  
pp. 2699-2711 ◽  
Author(s):  
Hiranya S. Jayakody ◽  
Lingling Shi ◽  
Jay Katupitiya ◽  
Nathan Kinkaid
Keyword(s):  
Robotic Manipulator ◽  
Robust Adaptive
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