scholarly journals ROBUST ADAPTIVE CONTROL OF MOBILE MANIPULATOR

2009 ◽  
Vol 12 (16) ◽  
pp. 19-50
Author(s):  
Lam Tan Chung ◽  
Sang Bong Kim
Keyword(s):  
Robust Control ◽  
Robust Adaptive Control ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Total System ◽  
Combined System ◽  
Robust Controller ◽  
Dynamic Interactions ◽  
Sensory Data ◽  
Robust Adaptive

In this paper a robust control is applied to a two-wheeled mobile manipulator (WMM) to observe the dynamic behavior of the total system. To do so, the dynamic equation of the mobile manipulator is derived taking into account parametric uncertainties, external disturbances, and the dynamic interactions between the mobile platform and the manipulator; then, a robust controller is derived to compensate the uncertainty and disturbances solely based on the desired trajectory and sensory data of the joints and the mobile platform. Also, a combined system which composed of a computer and a multi-dropped PIC-based controller is developed using USB-CAN communication to meet the performance of demand of the whole system. What's more, the simulation and experimental results are included to illustrate the performance of the robust control strategy.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

Robust Adaptive Control Based on Specified Region Pole Assignment for Flexible Hypersonic Vehicle

2011 ◽  
Vol 128-129 ◽  
pp. 270-275
Author(s):  
Zhi Gao Feng
Keyword(s):  
Dynamic Performance ◽  
Adaptive Controller ◽  
Pole Assignment ◽  
Hypersonic Vehicle ◽  
Open Loop ◽  
Robust Adaptive Control ◽  
Robust Controller ◽  
Robust Adaptive ◽  
Robust Adaptive Controller ◽  
Control Failures

This paper describes a robust adaptive controller based on specified region pole assignment for flexible hypersonic vehicle. The dynamic model of air-breathing hypersonic vehicle retains features including flexible effects, non-minimum phase behavior, model uncertainties, and strong couplings between flight dynamic and engine. To track velocity and altitude commands, robust controller based on specified region pole assignment is used to make unstable modes of open-loop system stable and guarantee dynamic performance of attitude. Meanwhile adaptive controller is proposed to solve tracking problems when existing control failures or saturation. The simulation results demonstrate that the proposed controller achieves excellent dynamic performance while the engine operates normally.

scholarly journals A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control—Application to Robotic Manipulators

Inventions ◽  
2019 ◽  
Vol 4 (3) ◽  
pp. 49
Author(s):  
Bin Wei
Keyword(s):  
Adaptive Control ◽  
Robust Control ◽  
Robotic Manipulators ◽  
Joint Space ◽  
Robust Adaptive Control ◽  
Control Techniques ◽  
Operational Space ◽  
Advanced Control ◽  
Robust Adaptive ◽  
Control Application

A tutorial on robust control, adaptive control, robust adaptive control and adaptive control of robotic manipulators is presented in a systematic manner. Some limitations of the above methods are also illustrated. The relationships between the robust control, adaptive control and robust adaptive control are demonstrated. Basic information on the joint space control, operational space control and force control is also given. This tutorial summarizes the most advanced control techniques currently in use in a very simple manner, and applies to robotic manipulators, which can provide an informative guideline for students who have little knowledge of controls or who want to understand the adaptive control of robotics in a systematic way.

Robust Adaptive Control of Nonlinear Systems with Uncertainties

2014 ◽  
Vol 568-570 ◽  
pp. 1108-1112
Author(s):  
Ning Liu ◽  
Yu Sheng Liu ◽  
Qiang Yang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Design Parameters ◽  
Unmodeled Dynamics ◽  
Time Varying ◽  
Mean Square ◽  
Robust Controller ◽  
The Mean ◽  
Robust Adaptive

This paper proposes a robust adaptive robust controller for nonlinear systems represented by input-output models with unmodeled dynamics. Under the circumstances that the output of the system is bounded, the proposed controller can guarantee that all the variables of the system are bounded in the presence of unmodeled dynamics and time-varying disturbances. The scheme does not need to generate an additional dynamic signal to dominate the effects of the unmodeled dynamics. It is shown that the mean-square tracking error can be made arbitrarily small by choosing some design parameters appropriately.

Adaptive Robust Control for a Class of Nonlinear Uncertain System With Unknown Input Backlash

2009 ◽  
Author(s):  
Jian Guo ◽  
Bin Yao ◽  
Jun Jiang ◽  
Qingwei Chen
Keyword(s):  
Robust Control ◽  
Nonlinear Dynamic System ◽  
Uncertain System ◽  
Robust Adaptive Control ◽  
Adaptive Robust Control ◽  
Unknown Input ◽  
Uncertain Disturbances ◽  
On Line ◽  
Parameterized Model ◽  
Robust Adaptive

An adaptive robust control (ARC) algorithm is developed for a class of nonlinear dynamic system with unknown input backlash, parametric uncertainties and uncertain disturbances. Due to the non-smooth dynamic nonlinear nature of backlash, existing robust adaptive control methods mainly focus on using approximate inversion of backlash by on-line parameter adaptation. But experimental results show that a linear controller alone can perform better than a controller including the selected backlash inverter with a correctly estimated or overestimated backlash gap. Unlike many existing control schemes, the backlash inverse is not constructed in this paper. A new linearly parameterized model for backlash is presented. The backlash nonlinearity is linearly parameterized globally with bounded model error. The proposed adaptive robust control law ensure that all closed-loop signals are bounded and achieves the tracking within the desired precision. Simulations results illustrate the performance of the ARC.

A General Approach to the Dynamics of Nonholonomic Mobile Manipulator Systems

2002 ◽  
Vol 124 (4) ◽  
pp. 512-521 ◽  
Author(s):  
Qing Yu ◽  
I-Ming Chen
Keyword(s):  
Multibody Systems ◽  
Equations Of Motion ◽  
Nonholonomic Constraints ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Dynamic Interactions ◽  
Dynamics Of Multibody Systems ◽  
Minimum Number ◽  
Simulation And Control ◽  
And Control

This paper studies the dynamic modeling of a nonholonomic mobile manipulator that consists of a multi-degree of freedom serial manipulator and an autonomous wheeled mobile platform. The manipulator is rigidly mounted on the mobile platform, and the wheeled mobile platform moves on the ground subjected to nonholonomic constraints. Forward Recursive Formulation for the dynamics of multibody systems is employed to obtain the governing equation of the mobile manipulator system. The approach fully utilizes the existing equations of motion of the manipulator and that of the mobile platform. Furthermore, terms representing the dynamic interactions between the manipulator and the mobile platform can be observed. The resulting dynamic equation of the mobile manipulator has the minimum number of generalized coordinates and can be used for the purpose of dynamic simulation and control design, etc. The implementation issues of the model are discussed.

Robust adaptive control of door opening by a mobile rescue manipulator based on unknown-force-related constraints estimation

Robotica ◽  
2017 ◽  
Vol 36 (1) ◽  
pp. 119-140 ◽  
Author(s):  
Liang Ding ◽  
Kerui Xia ◽  
Haibo Gao ◽  
Guangjun Liu ◽  
Zongquan Deng
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Robust Adaptive Control ◽  
Mobile Manipulator ◽  
Joint Position ◽  
Door Opening ◽  
Robust Adaptive ◽  
Adaptive Control Strategy ◽  
Mobile Base

SUMMARYThis study focuses on a door-opening mobile manipulator operating in four phases (reaching the door, grasping the door handle, turning the door handle, and pulling the door). We use force/torque feedback-based control, achieving compliance of the mobile base when it comes into contact with the handle. A method is proposed for estimating the unknown force-related constraints from manipulator joint position measurements. A robust adaptive control strategy is developed for tracking the planned trajectory to open the door. Finally, a mobile manipulator opens a real door with a locked latch and unknown force-related constraints, demonstrating the validity of the proposed approach.

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