Adaptive control of robot manipulators including actuator dynamics and without joint torque measurement

Ignoring actuator dynamics in control of rigid manipulators can in practice result in performance degradation or loss of system stability. However, consideration of actuator dynamics usually requires measurement of robot joint torques. This paper addresses motion tracking control of an n-DOF rigid robot by taking into account its actuator dynamics. Joint torque measurement is avoided by using an adaptive observer. The backstepping technique is adopted to develop a dynamically smooth adaptive nonlinear controller dealing with uncertainties in manipulator and actuator dynamics. Semi-global convergence of motion tracking errors as well as torque estimation error are proven without any persistency of excitation condition. Simulation examples demonstrate low noise sensitivity of the proposed method in comparison with those using torque measurement.

[1]  Brad Paden,et al.  Globally asymptotically stable ‘PD+’ controller for robot manipulators , 1988 .

[2]  P. Dorato,et al.  Survey of robust control for rigid robots , 1991, IEEE Control Systems.

[3]  Miroslav Krstic,et al.  Nonlinear and adaptive control de-sign , 1995 .

[4]  Henk Nijmeijer,et al.  A passivity approach to controller-observer design for robots , 1993, IEEE Trans. Robotics Autom..

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

[6]  Septimiu E. Salcudean,et al.  Nonlinear control of hydraulic robots , 2001, IEEE Trans. Robotics Autom..

[7]  Antonio Loría,et al.  Position feedback global tracking control of EL systems: a state transformation approach , 2002, IEEE Trans. Autom. Control..

[8]  Rong-Jong Wai,et al.  Robust Neural-Fuzzy-Network Control for Robot Manipulator Including Actuator Dynamics , 2006, IEEE Transactions on Industrial Electronics.

[9]  Rong-Jong Wai,et al.  Intelligent tracking control for robot manipulator including actuator dynamics via TSK-type fuzzy neural network , 2004, IEEE Trans. Fuzzy Syst..

[10]  Jing Yuan.  Adaptive control of robotic manipulators including motor dynamics , 1995, IEEE Trans. Robotics Autom..

[11]  Chun-Yi Su,et al.  Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors , 1996 .

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

[13]  Long Cheng,et al.  Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach , 2009, IEEE Transactions on Control Systems Technology.

[14]  D. Dawson,et al.  An adaptive partial state feedback controller for RLED robot manipulators , 1994, 1994 Proceedings of IEEE International Conference on Control and Applications.

[15]  Chien Chern Cheah,et al.  Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information , 2006, Autom..

[16]  J. Slotine,et al.  On the Adaptive Control of Robot Manipulators , 1987 .

[17]  Chun-Yi Su,et al.  Backstepping based hybrid adaptive control of robot manipulators incorporating actuator dynamics , 1996, Proceedings of the 1996 IEEE IECON. 22nd International Conference on Industrial Electronics, Control, and Instrumentation.

[18]  Farhad Aghili,et al.  A Combined Scheme for Identification and Robust Torque Control of Hydraulic Actuators , 2003 .

[19]  D. Mayne.  Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[20]  Chun-Yi Su,et al.  Integrator backstepping based hybrid adaptive control of robotic manipulators driven by brushless DC motors , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[21]  P.V. Kokotovic,et al.  The joy of feedback: nonlinear and adaptive , 1992, IEEE Control Systems.

[22]  J. Y. S. Luh,et al.  Resolved-acceleration control of mechanical manipulators , 1980 .

[23]  Chien Chern Cheah,et al.  Adaptive Jacobian tracking control of robots with uncertainties in kinematic, dynamic and actuator models , 2006, IEEE Transactions on Automatic Control.

[24]  Martin Corless,et al.  Simple robust tracking controllers for robotic manipulators , 1994 .

[25]  Darren M. Dawson,et al.  Integrator backstepping control of a brush DC motor turning a robotic load , 1994, IEEE Trans. Control. Syst. Technol..