ADAPTIVE MODEL-FREE VOLTAGE CONTROL OF ROBOT MANIPULATORS

Amir Saleki and Mohammad M. Fateh

Keywords

Manipulator joint position control, voltage control strategy, adaptive Model-Free control, tracking differentiator

Abstract

The present article proposes a Model-Free control approach for robot manipulators. According to this control strategy, voltage control signals can be directly applied to the motors. For the manipulator joints, a local model is considered, which is based on the system’s input and output, and the joints are controlled independently. In this approach, all system dynamics and external disturbances are considered as an unknown term that is estimated using an adaptive law obtained from the Lyapunov theory. The designed control law is simple, and controller stability is guaranteed by using this theory. Simulation results and comparison verify the effectiveness of the proposed approach.

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