Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators
Identifieur interne : 008E90 ( Main/Exploration ); précédent : 008E89; suivant : 008E91Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators
Auteurs : N. V. Q. Hung [Japon] ; H. D. Tuan [Australie] ; T. Narikiyo [Japon] ; P. Apkarian [France]Source :
- IEEE transactions on control systems technology [ 1063-6536 ] ; 2008.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique, Observateur.
English descriptors
- KwdEn :
Abstract
-In this brief, a new adaptive control framework to compensate for uncertain nonlinear parameters in robot manipulators is developed. The designed adaptive controllers possess a linear parameter structure, guarantee global boundedness of the closed-loop system as well as tracking of a given trajectory within any prescribed accuracy. Our design approach takes advantage of a Lipschitzian property with respect to the plant nonlinear parameters. The outcome is that a very broad class of nonlinearly parameterized adaptive control problems for robot manipulators can be solved using this technique. Another feature of the proposed method is the design of low-dimensional estimator, even 1-D if desired, independently of the unknown parameter vector dimension. Simulations and experiments in friction compensation task for low-velocity tracking of a 2 degree-of-freedom planar robot demonstrate the viability of the technique and emphasize its advantages relatively to more classical approaches.
Affiliations:
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Apkarian</name><affiliation wicri:level="1"><inist:fA14 i1="04"><s1>ONERA-CERT</s1><s2>31055 Toulouse</s2><s3>FRA</s3><sZ>4 aut.</sZ></inist:fA14><country>France</country><wicri:noRegion>31055 Toulouse</wicri:noRegion><placeName><settlement type="city">Toulouse</settlement><region type="region" nuts="2">Occitanie (région administrative)</region><region type="old region" nuts="2">Midi-Pyrénées</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">08-0277113</idno><date when="2008">2008</date><idno type="stanalyst">PASCAL 08-0277113 INIST</idno><idno type="RBID">Pascal:08-0277113</idno><idno type="wicri:Area/PascalFrancis/Corpus">003553</idno><idno type="wicri:Area/PascalFrancis/Curation">002A95</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">003428</idno><idno type="wicri:explorRef" wicri:stream="PascalFrancis" wicri:step="Checkpoint">003428</idno><idno type="wicri:doubleKey">1063-6536:2008:Hung N:adaptive:control:for</idno><idno type="wicri:Area/Main/Merge">009842</idno><idno type="wicri:Area/Main/Curation">008E90</idno><idno type="wicri:Area/Main/Exploration">008E90</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators</title><author><name sortKey="Hung, N V Q" sort="Hung, N V Q" uniqKey="Hung N" first="N. V. Q." last="Hung">N. V. Q. Hung</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Technical Research Center, Toyota Motor Corporation</s1><s2>Shizuoka 410-1193</s2><s3>JPN</s3><sZ>1 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Shizuoka 410-1193</wicri:noRegion></affiliation></author><author><name sortKey="Tuan, H D" sort="Tuan, H D" uniqKey="Tuan H" first="H. D." last="Tuan">H. D. Tuan</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>School of Electrical Engineering and Telecommunications, The University of New South Wales</s1><s2>Sydney, NSW 2052</s2><s3>AUS</s3><sZ>2 aut.</sZ></inist:fA14><country>Australie</country><wicri:noRegion>Sydney, NSW 2052</wicri:noRegion></affiliation></author><author><name sortKey="Narikiyo, T" sort="Narikiyo, T" uniqKey="Narikiyo T" first="T." last="Narikiyo">T. Narikiyo</name><affiliation wicri:level="1"><inist:fA14 i1="03"><s1>Department of Electrical and Computer Engineering, Toyota Technological Institute</s1><s2>Nagoya 468-8511</s2><s3>JPN</s3><sZ>3 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Nagoya 468-8511</wicri:noRegion></affiliation></author><author><name sortKey="Apkarian, P" sort="Apkarian, P" uniqKey="Apkarian P" first="P." last="Apkarian">P. Apkarian</name><affiliation wicri:level="1"><inist:fA14 i1="04"><s1>ONERA-CERT</s1><s2>31055 Toulouse</s2><s3>FRA</s3><sZ>4 aut.</sZ></inist:fA14><country>France</country><wicri:noRegion>31055 Toulouse</wicri:noRegion><placeName><settlement type="city">Toulouse</settlement><region type="region" nuts="2">Occitanie (région administrative)</region><region type="old region" nuts="2">Midi-Pyrénées</region></placeName></affiliation></author></analytic><series><title level="j" type="main">IEEE transactions on control systems technology</title><title level="j" type="abbreviated">IEEE trans. control syst. technol.</title><idno type="ISSN">1063-6536</idno><imprint><date when="2008">2008</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE transactions on control systems technology</title><title level="j" type="abbreviated">IEEE trans. control syst. technol.</title><idno type="ISSN">1063-6536</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Adaptive control</term><term>Closed feedback</term><term>Control synthesis</term><term>Dimensioning</term><term>Friction</term><term>Manipulator</term><term>Motion control</term><term>Non linear control</term><term>Observer</term><term>Parameter estimation</term><term>Planar mechanism</term><term>Robotics</term><term>System identification</term><term>Uncertain system</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Commande adaptative</term><term>Système incertain</term><term>Synthèse commande</term><term>Commande boucle fermée</term><term>Commande non linéaire</term><term>Robotique</term><term>Observateur</term><term>Identification système</term><term>Commande mouvement</term><term>Estimation paramètre</term><term>Manipulateur</term><term>Dimensionnement</term><term>Frottement</term><term>Mécanisme plan</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term><term>Observateur</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">-In this brief, a new adaptive control framework to compensate for uncertain nonlinear parameters in robot manipulators is developed. The designed adaptive controllers possess a linear parameter structure, guarantee global boundedness of the closed-loop system as well as tracking of a given trajectory within any prescribed accuracy. Our design approach takes advantage of a Lipschitzian property with respect to the plant nonlinear parameters. The outcome is that a very broad class of nonlinearly parameterized adaptive control problems for robot manipulators can be solved using this technique. Another feature of the proposed method is the design of low-dimensional estimator, even 1-D if desired, independently of the unknown parameter vector dimension. Simulations and experiments in friction compensation task for low-velocity tracking of a 2 degree-of-freedom planar robot demonstrate the viability of the technique and emphasize its advantages relatively to more classical approaches.</div></front></TEI><affiliations><list><country><li>Australie</li><li>France</li><li>Japon</li></country><region><li>Midi-Pyrénées</li><li>Occitanie (région administrative)</li></region><settlement><li>Toulouse</li></settlement></list><tree><country name="Japon"><noRegion><name sortKey="Hung, N V Q" sort="Hung, N V Q" uniqKey="Hung N" first="N. V. Q." last="Hung">N. V. Q. Hung</name></noRegion><name sortKey="Narikiyo, T" sort="Narikiyo, T" uniqKey="Narikiyo T" first="T." last="Narikiyo">T. Narikiyo</name></country><country name="Australie"><noRegion><name sortKey="Tuan, H D" sort="Tuan, H D" uniqKey="Tuan H" first="H. D." last="Tuan">H. D. Tuan</name></noRegion></country><country name="France"><region name="Occitanie (région administrative)"><name sortKey="Apkarian, P" sort="Apkarian, P" uniqKey="Apkarian P" first="P." last="Apkarian">P. Apkarian</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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