Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties

In this paper, a novel robust adaptive controller is proposed to simultaneously cope with the unknown nonlinear backlash, friction and dynamic uncertainties in the 3-DOF robotic head system. Inverse backlash compensation with on-line backlash parameter estimation and model-based friction compensation with off-line Stribeck friction identification are incorporated into this robust adaptive scheme. By parametrically linearizing the system dynamic equation, dynamic uncertainties are estimated. This controller is mathematically derived by using Lyapunov stability analysis. Simulation results are presented to show the high tracking performance of the controller.

[1]  Zhi Liu,et al.  Decentralized Robust Fuzzy Adaptive Control of Humanoid Robot Manipulation With Unknown Actuator Backlash , 2015, IEEE Transactions on Fuzzy Systems.

[2]  Chun-Yi Su,et al.  Robust adaptive control of a class of nonlinear systems with unknown dead-zone , 2004, Autom..

[3]  Jing Zhou,et al.  Robust Adaptive Output Control of Uncertain Nonlinear Plants With Unknown Backlash Nonlinearity , 2007, IEEE Transactions on Automatic Control.

[4]  G. Oriolo,et al.  Robotics: Modelling, Planning and Control , 2008 .

[5]  Subhash Rakheja,et al.  Adaptive variable structure control of a class of nonlinear systems with unknown Prandtl-Ishlinskii hysteresis , 2005, IEEE Transactions on Automatic Control.

[6]  Richard W. Longman,et al.  A sliding-mode based smooth adaptive robust controller for friction compensation , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[7]  Gang Tao,et al.  Adaptive Control of Systems with Actuator and Sensor Nonlinearities , 1996 .

[8]  P. Dahl.  A Solid Friction Model , 1968 .

[9]  Hong Liu,et al.  Biomimetic object impedance control for dual-arm cooperative 7-DOF manipulators , 2016, Robotics Auton. Syst..

[10]  E. Lieb,et al.  Best Constants in Young's Inequality, Its Converse, and Its Generalization to More than Three Functions , 1976 .

[11]  Jochen Triesch,et al.  Design of an anthropomorphic robot head for studying autonomous development and learning , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[12]  Brian Armstrong-Hélouvry,et al.  Control of machines with friction , 1991, The Kluwer international series in engineering and computer science.

[13]  Petros A. Ioannou,et al.  Robust Adaptive Control , 2012 .

[14]  Ying Zhang,et al.  Adaptive backstepping control of a class of uncertain nonlinear systems with unknown backlash-like hysteresis , 2004, IEEE Trans. Autom. Control..

[15]  Yingbai Hu,et al.  Adaptive inverse control of non-linear systems with unknown complex hysteretic non-linearities , 2012 .

[16]  C. Wen,et al.  Adaptive backstepping control of a class of uncertain nonlinear systems with unknown backlash-like hysteresis , 2004, IEEE Transactions on Automatic Control.

[17]  K.J. Astrom,et al.  Revisiting the LuGre friction model , 2008, IEEE Control Systems.