An Adaptive Manipulator Controller Based on Force and Parameter Estimation

Mohammad DANESH; Farid SHEIKHOLESLAM; Mehdi KESHMIRI

doi:10.1093/ietfec/e89-a.10.2803

An Adaptive Manipulator Controller Based on Force and Parameter Estimation

Mohammad DANESH, Farid SHEIKHOLESLAM, Mehdi KESHMIRI

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Consideration of manipulator dynamics and external disturbances in robot control system design can enhance the stability and performance properties of the whole system. In this paper, we present an approach to solve the control problem when the inertia parameters of robot are unknown, and at the same time robot is subjected to external force disturbances. This approach is based on simultaneous estimation of force signal and inertia parameters and utilizing them in the control law. The update laws and the control law are derived based on a single time-varying Lyapunov function, so that the global convergence of the tracking error is ensured. A theorem with a detailed proof is presented to guarantee the global uniform asymptotic stability of the whole system. Some simulations are made for a number of external forces to illustrate the effectiveness of the proposed approach.

Publication: IEICE TRANSACTIONS on Fundamentals Vol.E89-A No.10 pp.2803-2811

Publication Date: 2006/10/01

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Online ISSN: 1745-1337

DOI: 10.1093/ietfec/e89-a.10.2803

Type of Manuscript: Special Section PAPER (Special Section on Nonlinear Theory and its Applications)

Category: Control, Neural Networks and Learning

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Mohammad DANESH, Farid SHEIKHOLESLAM, Mehdi KESHMIRI, "An Adaptive Manipulator Controller Based on Force and Parameter Estimation" in IEICE TRANSACTIONS on Fundamentals, vol. E89-A, no. 10, pp. 2803-2811, October 2006, doi: 10.1093/ietfec/e89-a.10.2803.
Abstract: Consideration of manipulator dynamics and external disturbances in robot control system design can enhance the stability and performance properties of the whole system. In this paper, we present an approach to solve the control problem when the inertia parameters of robot are unknown, and at the same time robot is subjected to external force disturbances. This approach is based on simultaneous estimation of force signal and inertia parameters and utilizing them in the control law. The update laws and the control law are derived based on a single time-varying Lyapunov function, so that the global convergence of the tracking error is ensured. A theorem with a detailed proof is presented to guarantee the global uniform asymptotic stability of the whole system. Some simulations are made for a number of external forces to illustrate the effectiveness of the proposed approach.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1093/ietfec/e89-a.10.2803/_p

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@ARTICLE{e89-a_10_2803,
author={Mohammad DANESH, Farid SHEIKHOLESLAM, Mehdi KESHMIRI, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={An Adaptive Manipulator Controller Based on Force and Parameter Estimation},
year={2006},
volume={E89-A},
number={10},
pages={2803-2811},
abstract={Consideration of manipulator dynamics and external disturbances in robot control system design can enhance the stability and performance properties of the whole system. In this paper, we present an approach to solve the control problem when the inertia parameters of robot are unknown, and at the same time robot is subjected to external force disturbances. This approach is based on simultaneous estimation of force signal and inertia parameters and utilizing them in the control law. The update laws and the control law are derived based on a single time-varying Lyapunov function, so that the global convergence of the tracking error is ensured. A theorem with a detailed proof is presented to guarantee the global uniform asymptotic stability of the whole system. Some simulations are made for a number of external forces to illustrate the effectiveness of the proposed approach.},
keywords={},
doi={10.1093/ietfec/e89-a.10.2803},
ISSN={1745-1337},
month={October},}

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TY - JOUR
TI - An Adaptive Manipulator Controller Based on Force and Parameter Estimation
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 2803
EP - 2811
AU - Mohammad DANESH
AU - Farid SHEIKHOLESLAM
AU - Mehdi KESHMIRI
PY - 2006
DO - 10.1093/ietfec/e89-a.10.2803
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E89-A
IS - 10
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - October 2006
AB - Consideration of manipulator dynamics and external disturbances in robot control system design can enhance the stability and performance properties of the whole system. In this paper, we present an approach to solve the control problem when the inertia parameters of robot are unknown, and at the same time robot is subjected to external force disturbances. This approach is based on simultaneous estimation of force signal and inertia parameters and utilizing them in the control law. The update laws and the control law are derived based on a single time-varying Lyapunov function, so that the global convergence of the tracking error is ensured. A theorem with a detailed proof is presented to guarantee the global uniform asymptotic stability of the whole system. Some simulations are made for a number of external forces to illustrate the effectiveness of the proposed approach.
ER -