1. bookVolume 23 (2013): Issue 3 (September 2013)
Journal Details
License
Format
Journal
First Published
05 Apr 2007
Publication timeframe
4 times per year
Languages
English
access type Open Access

An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

Journal Details
License
Format
Journal
First Published
05 Apr 2007
Publication timeframe
4 times per year
Languages
English

This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new scheme has been experimentally implemented with the aim of confirming the theoretical results.

Keywords

Abdessameud, A. and Khelfi, M.F. (2006). A variable structure observer for the control of robot manipulators, InternationalJournal of Applied Mathematics and Computer Science16(2):189-196.Search in Google Scholar

Arimoto, S., Parra-Vega, V. and Naniwa, T. (1994). A class of linear velocity observers for nonlinear mechanical systems, Asian Control Conference, Tokyo, Japan, pp. 633-636.Search in Google Scholar

Arimoto, S. (1995a). Fundamental problems of robot control, Part I: Innovation in the realm of robot servo-loops, Robotica13(1): 19-27.Search in Google Scholar

Arimoto, S. (1995b). Fundamental problems of robot control, Part II: A nonlinear circuit theory towards an understanding of dexterous motions, Robotica 13(2): 111-122.Search in Google Scholar

Bańka, S., Dworak, P. and Jaroszewski, K. (2013). Linear adaptive structure for control of a nonlinear MIMO dynamic plant, International Journal of Applied Mathematicsand Computer Science 23(1): 47-63, DOI: 10.2478/amcs-2013-0005.Search in Google Scholar

Berghuis, H. and Nijmeijer, H. (1993). A passivity approach to controller-observer design for robots, IEEE Transactions onRobotics and Automation 9(6): 740-754.Search in Google Scholar

Burkov, I. (1993). Asymptotic stabilization of nonlinear Lagrangian systems without measuring velocities, InternationalSymposium on Active Control in Mechanical Engineering,Lyon, France, pp. 37-41.Search in Google Scholar

Craig, J., Hsu, P. and Sastry, S. (1987). Adaptive control of mechanical manipulators, International Journal of RoboticsResearch 6(2): 16-28.Search in Google Scholar

Daly, J. and Schwarz, H. (2006). Experimental results for adaptive output feedback control, Robotica 24(6): 727-738.Search in Google Scholar

Kelly, R. (1993). A simple set-point robot controller by using only position measurements, International Federation ofAutomatic Control World Congress, Sydney, Australia, pp. 173-176.Search in Google Scholar

Kelly, R., Carelli, R. and Ortega, R. (1989). Adaptive motion control design to robot manipulators: An input-output approach, International Journal of Control50(6): 2563-2581.Search in Google Scholar

Kelly, R., Santibanez, V. and Loria, A. (2005). Control of RobotManipulators in Joint Space, Springer-Verlag, Berlin.Search in Google Scholar

Khalil, H. (2002). Nonlinear Systems, Prentice-Hall, Englewood Cliffs, NJ.Search in Google Scholar

Koditschek, D. (1984). Natural motion for robot arms, Conferenceon Decision and Control, Las Vegas, NV, USA, pp. 733-735.Search in Google Scholar

Lim, S., Dawson, D. and Anderson, K. (1996). Re-examining the Nicosia-Tomei robot observer-controller from a backstepping perspective, IEEE Transactions on ControlSystems Technology 4(3): 304-310.Search in Google Scholar

Lopez-Araujo, D., Zavala-Rio, A., Santibanez, V. and Reyes, F. (2012). Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs, InternationalJournal of Control, Automation and Systems 11(1): 105-115.Search in Google Scholar

Loría, A., Kelly, R. and Teel, A. (2005). Uniform parametric convergence in the adaptive control of mechanical systems, European Journal of Control 11(2): 87-100.Search in Google Scholar

Loria, A.E., Panteley, Popovic D. and Teel A. (2002). δ-Persistency of excitation: A necessary and sufficient condition for uniform attractivity. IEEE Conference on Decisionand Control, Las Vegas, NV, USA, pp. 3506-3511.Search in Google Scholar

Loria, A. and Nijmeijer, H. (1998). Bounded output feedback tracking control of fully-actuated Euler-Lagrange systems, Systems & Control Letters 33(3): 151-161.Search in Google Scholar

Middleton, R. and Goodwin, G. (1998). Adaptive computed torque control for rigid link manipulators, Systems & ControlLetters 10(1): 9-16.Search in Google Scholar

Moreno-Valenzuela, J., Santibanez, V., Orozco-Manriquez, E. and Gonzalez-Hernandez, L. (2010). Theory and experiments of global adaptive output feedback tracking control of manipulators, IET Control Theory and Applications4(9): 1639-1654.Search in Google Scholar

Moreno-Valenzuela, J., Santibanez, V., Campa, R. (2008a). A class of OFT controllers for torque-saturated robot manipulators: Lyapunov stability and experimental evaluation, Journal of Intelligent & Robotic Systems 51(1): 65-88.Search in Google Scholar

Moreno-Valenzuela, J., Santibanez, V., Campa, R. (2008b). On output feedback tracking control of robots manipulators with bounded torque input, International Journal of Control,Automation, and Systems 6(1): 76-85.Search in Google Scholar

Nicosia, S. and Tomei, P. (1990). Robot control by using only position measurements, IEEE Transactions on AutomaticControl 35(9): 1058-1061.Search in Google Scholar

Ortega, R., Loria, A. and Kelly, R. (1995). A semiglobally stable output feedback PI2D regulator for robot manipulators, IEEE Transactions on Automatic Control40(8): 1432-1436.Search in Google Scholar

Ortega, R. and Spong, M. (1989). Adaptive motion control of rigid robots: A tutorial, Automatica 25(6): 877-888.Search in Google Scholar

Reyes, F. and Kelly, R. (2001). Experimental evaluation of model-based controllers on a direct-drive robot arm, Mechatronics11(3): 267-282.Search in Google Scholar

Sadegh, N. and Horowitz, R. (1987). Stability analysis of an adaptive controller for robotic manipulators, InternationalConference on Robotics and Automation, Raleigh, NC, USA, pp. 1223-1229.Search in Google Scholar

Santibanez, V. and Kelly, R. (2001). Global asymptotical stability of bounded output feedback tracking control for robot manipulators, IEEE Conference on Decision and Control,Orlando, FL, USA, pp. 1378-1379.Search in Google Scholar

Santibanez, V. and Kelly, R. (1999). Global convergence of the adaptive PD controller with computed feedforward for robot manipulators, IEEE International Conference on Roboticsand Automation, Detroit, MI, USA, pp. 1831-1836.Search in Google Scholar

Slotine, J. and Li, W. (1987). On the adaptive control of robot manipulators, International Journal of Robotics Research6(3): 49-59.Search in Google Scholar

Spong, M., Hutchinson, S. and Vidyasagar, M. (2005). RobotModeling and Control, John Wiley and Sons, New York, NY.Search in Google Scholar

Witkowska, A. and Śmierzchalski, R. (2012). Designing a ship course controller by applying the adaptive backstepping method, International Journal of Applied Mathematicsand Computer Science 22(4): 985-997, DOI: 10.2478/v10006-012-0073-y.Search in Google Scholar

Yarza, A., Santibanez, V. and Moreno-Valenzuela, J. (2011). Uniform global asymptotic stability of an adaptive output feedback tracking controller for robot manipulators, InternationalFederation of Automatic Control World Congress,Milan, Italy, pp. 14590-14595.Search in Google Scholar

Zavala-Rio, A., Aguinaga-Ruiz, E. and Santibanez, V. (2011). Global trajectory tracking through output feedback for robot manipulators with bounded inputs, Asian Journal of Control13(3): 430-438.Search in Google Scholar

Zergeroglu, E., Dawson, D.M., de Queiroz, M.S. and Krstic, M. (2000). On global output feedback tracking control of robot manipulators, Proceedings of the IEEE Conference on Decisionand Control, Sydney, Australia, pp. 5073-5077.Search in Google Scholar

Zhang, F., Dawson, D.M., de Queiroz, M.S. and Dixon, W.E. (2000). Global adaptive output feedback tracking control of robot manipulators, IEEE Transactions on Automatic Control45(6): 1203-1208. Search in Google Scholar

Recommended articles from Trend MD

Plan your remote conference with Sciendo