Adaptive H∞ control method with frictions compensation and disturbance rejection for robotic manipulators

This paper considers an adaptive Hinfin control method with link frictions compensation and external disturbances rejection for robotic systems. It is assumed that all the system parameters for friction model and robot are unknown. The proposed method ensures that the unknown parameters are estimated and approximation errors of friction model and external disturbances are attenuated by means of Hinfin control performance. In spite of considering the adaptive Hinfin control problems, the compensator can design without solving the Hamilton-Jacobi-Isaacs equation. Simulation and experimental results are given to illustrate the effectiveness of our proposed method. It is also shown that we can easily design to determine the relative importance of the error and the expenditure of the input energy

[1]  M. Spong.  On the robust control of robot manipulators , 1992 .

[2]  Bor-Sen Chen,et al.  A nonlinear H∞ control design in robotic systems under parameter perturbation and external disturbance , 1994 .

[3]  K. Sato,et al.  Adaptive H/sup /spl infin// control for linear slider with friction compensation using /spl sigma/-modification strategy , 2004, Proceedings of the 2004 IEEE International Conference on Control Applications, 2004..

[4]  R. Freeman,et al.  Robust Nonlinear Control Design: State-Space and Lyapunov Techniques , 1996 .

[5]  Shuzhi Sam Ge,et al.  Adaptive NN control of dynamic systems with unknown dynamic friction , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[6]  Randy A. Freeman,et al.  Robust Nonlinear Control Design , 1996 .

[7]  Romeo Ortega,et al.  An adaptive friction compensator for global tracking in robot manipulators , 1998 .

[8]  Carlos Canudas de Wit,et al.  A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..

[9]  M. Krstic,et al.  Inverse optimal design of input-to-state stabilizing nonlinear controllers , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[10]  Mark W. Spong,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[11]  Tielong Shen,et al.  Robust Tracking Control for Robot Systems , 1999 .

[12]  Miroslav Krstic,et al.  Optimal design of adaptive tracking controllers for non-linear systems , 1997, Autom..

[13]  K. Sato,et al.  Adaptive H//sup/spl infin// control for linear slider with friction compensation - using gradient algorithms with projection - , 2005, Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics..

[14]  Bor-Sen Chen,et al.  Adaptive control in robotic systems with H∞ tracking performance , 1997, Autom..

[15]  Jean-Jacques E. Slotine,et al.  Adaptive manipulator control: A case study , 1988 .

[16]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[17]  S. Ge,et al.  Adaptive friction compensation of servo mechanisms , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[18]  Kazuhiro Tsuruta,et al.  Adaptive Positioning Control for Linear Slider with Friction Compensation , 2004 .

[19]  Y. Miyasato.  Redesign of adaptive control systems based on the notion of optimality , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[20]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[21]  Romeo Ortega,et al.  An Adaptive Friction Compensator for Global Tracking in Robot Manipulators , 1997 .