Cartesian Controllers for Tracking of Robot Manipulators under Parametric Uncertainties

Output feedback synchronization of multiple robot systems under parametric uncertainties

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331216649025 ◽

2016 ◽

Vol 39 (3) ◽

pp. 277-287 ◽

Cited By ~ 6

Author(s):

Elif Cicek ◽

Janset Dasdemir

Keyword(s):

Cooperative Control ◽

Robot Manipulators ◽

Tracking Error ◽

Position Tracking ◽

Parametric Uncertainties ◽

Synchronization Problem ◽

Control Scheme ◽

Robot Systems ◽

Multiple Robot ◽

Adaptation Law

In this paper, we propose a novel cooperative control scheme that solves the position synchronization problem of multiple robot manipulators, under parametric uncertainties, in the case when only position measurements are available. The synchronization controller, adaptation law and the filter that generates a velocity-related signal from the position tracking error are designed via a Lyapunov-based stability analysis. It is shown that the proposed method guarantees semi-global asymptotic convergence of the position synchronization error. The simulation results on five robot manipulators ensure the feasibility of the filter/controller mechanism.

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Adaptive Control of Electrically-Driven Robot Manipulators Without Velocity/Current Measurements

Volume 4A: Dynamics, Vibration, and Control ◽

10.1115/imece2014-37791 ◽

2014 ◽

Cited By ~ 2

Author(s):

Mohamadreza Homayounzade ◽

Mehdi Keshmiri ◽

Mohammad Keshmiri

Keyword(s):

Robot Manipulators ◽

Input Voltage ◽

Velocity Estimation ◽

System Level ◽

Simultaneous Estimation ◽

Parametric Uncertainties ◽

Electric Actuator ◽

Current Estimation ◽

Electrically Driven Robot ◽

Joint Velocity

An adaptive output feedback controller for electrically-driven robot manipulators is developed in this paper. The proposed controller can compensate for parametric uncertainties while only requiring link position measurements. To eliminate the need for measuring link velocity and electrical winding current, two individual observers are used as a surrogate for unmeasurable quantities: one for joint velocity estimation, and another for motor current estimation. Based on these observers, a modified adaptive integrator backstepping procedure is utilized to design input voltage which guarantees semiglobal asymptotic link position/velocity tracking in spite of the mechanical parametric uncertainties and lack of link velocity and rotor current measurements. The main novelty of our presented work lies in simultaneous estimation of joint velocities, rotor currents, and mechanical uncertainties to produce a controller which provides a system level input, the voltage to an electric actuator, to control the link position/velocity of electrically-driven robot manipulators.

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