Hybrid adaptive control for the tracking of rigid-link electrically-driven robots

In this paper, we design a hybrid adaptive/robust tracking controller for rigid-link electrically-driven (RLED) robot manipulators. The controller is hybrid in the sense that an adaptive controller is used to compensate for parametric uncertainties in the rigid-link equation while an adaptive robust controller corrects for the typically ignored electrical actuator dynamics. That is, in spite of these detrimental uncertainties and effects, we are still able to ensure global asymptotic stability of the link position tracking error.

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

[2]  Zhihua Qu,et al.  Tracking control of rigid-link electrically – driven robot manipulators , 1992 .

[3]  A. S.I. Zinober,et al.  Deterministric Control of Uncertain Systems , 1990 .

[4]  Martin Corless,et al.  Tracking Controllers for Uncertain Systems: Application to a Manutec R3 Robot , 1989 .

[5]  N. Hemati,et al.  Robust nonlinear control of brushless DC motors for direct-drive robotic applications , 1990 .

[6]  W. Seering,et al.  Introduction to dynamic models for robot force control , 1987, IEEE Control Systems Magazine.

[7]  T. J. E. Miller,et al.  Instantaneous torque control of electric motor drives , 1985, 1985 IEEE Power Electronics Specialists Conference.

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

[9]  S. Peresada,et al.  Feedback linearizing control of switched reluctance motors , 1987 .

[10]  David G. Taylor,et al.  Composite control of direct-drive robots , 1989, Proceedings of the 28th IEEE Conference on Decision and Control,.

[11]  M. Corless,et al.  Adaptive control of systems containing uncertain functions and unknown functions with uncertain bounds , 1983 .

[12]  Tzyh Jong Tarn,et al.  Effect of motor dynamics on nonlinear feedback robot arm control , 1991, IEEE Trans. Robotics Autom..

[13]  S. Peresada,et al.  Adaptive partial feedback linearization of induction motors , 1990, 29th IEEE Conference on Decision and Control.

[14]  Petar V. Kokotovic,et al.  Systematic design of adaptive controllers for feedback linearizable systems , 1991 .