Task-space asymptotic tracking control of robots using a direct adaptive Taylor series controller

This paper presents a robust task-space control approach using a direct adaptive Taylor series controller for electrically driven robot manipulators. In an adaptive Taylor series control scheme, the parameters of controller are directly tuned in order to reduce the task-space tracking error in the presence of structured and unstructured uncertainty. Also, the upper bound of approximation error is estimated to form a robustifying term and the asymptotic convergence of task-space tracking error and its time derivative is proven based on the stability analysis. Simulation results are included to verify the effectiveness of the proposed control method.

[1]  Hanlei Wang,et al.  Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics , 2014, IEEE Transactions on Automatic Control.

[2]  Miroslaw Galicki,et al.  Finite-time trajectory tracking control in a task space of robotic manipulators , 2016, Autom..

[3]  Nagarajan Sukavanam,et al.  Neural network-based nonlinear tracking control of kinematically redundant robot manipulators , 2011, Math. Comput. Model..

[4]  Vicente Parra-Vega,et al.  Cartesian sliding PID control schemes for tracking robots with uncertain Jacobian , 2012 .

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

[6]  Mohammad Mehdi Fateh,et al.  Proper uncertainty bound parameter to robust control of electrical manipulators using nominal model , 2010 .

[7]  Kok Kiong Tan,et al.  Adaptive neural network algorithm for control design of rigid-link electrically driven robots , 2008, Neurocomputing.

[8]  Liang Xu,et al.  Adaptive backstepping trajectory tracking control of robot manipulator , 2012, J. Frankl. Inst..

[9]  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.

[10]  M. Fateh.  On the Voltage-Based Control of Robot Manipulators , 2008 .

[11]  Saeed Khorashadizadeh,et al.  Adaptive RBF network control for robot manipulators , 2014 .

[12]  Tianyou Chai,et al.  Neural-Network-Based Terminal Sliding-Mode Control of Robotic Manipulators Including Actuator Dynamics , 2009, IEEE Transactions on Industrial Electronics.

[13]  Li Tang,et al.  Adaptive neural network control of robot manipulator using reinforcement learning , 2014 .

[14]  Long Cheng,et al.  Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model , 2009, Autom..

[15]  Mohammad Mehdi Fateh,et al.  Discrete time robust control of robot manipulators in the task space using adaptive fuzzy estimator , 2015 .

[16]  Warren E. Dixon,et al.  Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics , 2007, IEEE Transactions on Automatic Control.

[17]  Suguru Arimoto,et al.  Approximate Jacobian control for robots with uncertain kinematics and dynamics , 2003, IEEE Trans. Robotics Autom..

[18]  Frank L. Lewis,et al.  Robust neural-network control of rigid-link electrically driven robots , 1998, IEEE Trans. Neural Networks.

[19]  M. de Mathelin,et al.  Robust control of robot manipulators: A survey , 1999 .

[20]  Zhihua Qu,et al.  Robust tracking control of robot manipulators , 1996 .

[21]  Miroslaw Galicki,et al.  Finite-time control of robotic manipulators , 2015, Autom..

[22]  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.

[23]  Jan Swevers,et al.  Finite-time tracking control for robot manipulators with actuator saturation , 2014 .

[24]  Mohammad Mehdi Fateh,et al.  Robust control of electrically driven robots using adaptive uncertainty estimation , 2016, Comput. Electr. Eng..

[25]  Zhihua Qu,et al.  Lyapunov recursive design of robust adaptive tracking control with L 2-gain performance for electrically-driven robot manipulators , 2001 .

[26]  Mohammad Mehdi Fateh,et al.  Adaptive type-2 fuzzy estimation of uncertainties in the control of electrically driven flexible-joint robots , 2017 .

[27]  Guoqiang Hu,et al.  Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements , 2016, IEEE Transactions on Cybernetics.

[28]  Leila Notash,et al.  Adaptive sliding mode control with uncertainty estimator for robot manipulators , 2010 .