NEW ROBUST-ADAPTIVE ALGORITHM FOR TRACKING CONTROL OF ROBOT MANIPULATORS†

C.Q. Huang, X.F. Peng, X.G. Wang, and S.J. Shi

References

  1. [1] R. Ortega & Y. Tang, Robustness of adaptive controllers – Asurvey, Automatica, 25, 1989, 651–667. doi:10.1016/0005-1098(89)90023-X
  2. [2] B.D. Riedle & P.V. Kokotovic, Disturbance instabilities in anadaptive system, IEEE Transactions on Automatic Control,29, 1984, 822–824. doi:10.1109/TAC.1984.1103662
  3. [3] C. Rohrs, L. Valavani, M. Athans, & G. Stein, Robustnessof adaptive control algorithms in the presence of unmodeleddynamics, IEEE Transactions on Automatic Control, 30, 1985,881–889. doi:10.1109/TAC.1985.1104070
  4. [4] A. Tayebi, Adaptive iterative learning control for robot ma-nipulators. Automatica, 40, 2004, 1195–1203. doi:10.1016/j.automatica.2004.01.026
  5. [5] S. Purwar, I.N. Kar, & A.N. Jha, Adaptive control of robotmanipulators using fuzzy logic systems under actuator con-straints, Fuzzy Sets and Systems, 152, 2005, 651–664. doi:10.1016/j.fss.2004.11.012
  6. [6] M.J. Er & Y. Gao, Robust adaptive control of robot manip-ulators using generalized fuzzy neural networks, IEEE Trans-actions on Industrial Electronics, 50 (3), 2003, 620–628. doi:10.1109/TIE.2003.812454
  7. [7] P.R. Ouyang, W.J. Zhang, & M.M. Gupta, An adaptiveswitching learning control method for trajectory tracking ofrobot manipulators, Mechatronics, 16, 2006, 51–61. doi:10.1016/j.mechatronics.2005.08.002
  8. [8] J. Krause, M. Athans, S.S. Sastry, & L. Valavani, Robustnessstudies in adaptive control, Proc. 22nd IEEE Conf. DecisionContr., San Antonio, TX, 1983, 977–981.
  9. [9] G. Feng, Analysis of a new algorithm for continuous-timerobust adaptive control, IEEE Transactions on AutomaticControl, 44, 1999, 1764–1768. doi:10.1109/9.788549
  10. [10] B.B. Petersen & K.S. Narendra, Bounded error adaptive con-trol, IEEE transactions on automatic control, 27, 1982, 1161–1168. doi:10.1109/TAC.1982.1103112
  11. [11] C. Samson, Stability analysis of adaptively controlled systemsubject to bounded disturbance, Automatica, 19, 1983, 81–86. doi:10.1016/0005-1098(83)90077-8
  12. [12] G. Kreisselmeier & K.S. Narendra, Stable model referenceadaptive control in the presence of bounded disturbances, IEEETransactions on Automatic Control, 27, 1982, 1169–8875. doi:10.1109/TAC.1982.1103093
  13. [13] J.H. Hill & B.E. Ydstie, Adaptive control with selective mem-ory, International Journal of Adaptive Control and SignalProcessing, 18, 2004, 571–587. doi:10.1002/acs.819
  14. [14] P.A. Ioannou & P.V. Kokotovic, Robust redesign of adaptivecontrol, IEEE Transactions on Automatic Control, 29, 1984,202–211. doi:10.1109/TAC.1984.1103490
  15. [15] P.A. Ioannou, Robust adaptive control with zero residualtracking error. IEEE Transactions on Automatic Control, 31,1986, 773–776. doi:10.1109/TAC.1986.1104393
  16. [16] R. Burkan & I. Uzmay, A model of parameter adaptive law withtime varying function for robot control, Applied MathematicalModeling, 29, 2005, 361–371. doi:10.1016/j.apm.2004.07.013
  17. [17] M. Krstic, I. Kanellakopoulos, & P. Kokotovic, Nonlinear andadaptive control design (Wiley: New York, 1995).
  18. [18] R. Lozano & B. Brogliato, Adaptive control of robot manip-ulators with fexible joints, IEEE Transactions on AutomaticControl, 37, 1992, 174–181. doi:10.1109/9.121619
  19. [19] M.M. Bridges, D.M. Dawson, & C.T. Abdallah, Control of rigid-link, flexible-link robots: a survey of backstepping approaches,Journal of Robotic Systems, 12, 1995, 199–215.
  20. [20] A. Sanei & M. French, Towards a performance theory of robustadaptive control, International Journal of Adaptive ControlSignal Process, 18, 2004, 403–421. doi:10.1002/acs.803
  21. [21] K.S. Narendra & J. Balakrishnan, Improving transient re-sponse of adaptive control systems using multiple models andswitching, Proc. 32nd IEEE Conf. Decision and Control, SanAntonio, Texas, 1993, 1067–1072. doi:10.1109/CDC.1993.325348
  22. [22] K.S. Narendra & S. Mukhopadhyay, Adaptive control usingneural networks and approximate models, IEEE Transactionson Neural Networks, 8 (3), 1997, 475–485. doi:10.1109/72.572089
  23. [23] K.S. Narendra, O.A. Driollet, M. Feiler, & K. George, Adaptivecontrol using multiple models, switching and tuning, Interna-tional Journal of Adaptive Control Signal Process, 17, 2003,87–102.
  24. [24] A. Karimi & I.D. Landau, Robust adaptive control of a flexibletransmission system using multiple models, IEEE Transactionon Control Systems Technology, 8 (2), 2000, 321–331. doi:10.1109/87.826803
  25. [25] P.O. Gutman, Robust and adaptive control – fidelity or a freerelationship? in Moheimani S. O. Reza (Eds), Perspectives inrobust control (Great Britain, London: Spriger-Verlag, 2001),85–101. doi:10.1007/BFb0110616
  26. [26] C.Q. Huang, X.G. Wang, & Z.G. Wang, A class of tranposeJacobian-based NPID regulators for robot manipulator withuncertain kinematics, Journal of Robotic System, 19 (11), 2002,527–539. doi:10.1002/rob.10058
  27. [27] de Wit C. Canudas, B. Siciliano, & G. Bastin (Eds), Theoryof robot control, Second Edition (London: Springer-Verlag,1997), 61–63.
  28. [28] V. Santibanez & R. Kelly, Global convergence of the adaptivePD controller with computed feedback for robot manipulators,Proceedings IEEE International Conference on Robotics andAutomation, Belgium, 1831–1836, 1999.

Important Links:

Go Back