Le-Tien, Luc and Albu-Schäffer, Alin (2017) Robust Adaptive Tracking Control based on State Feedback Controller with Integrator Terms for Elastic Joint Robots with Uncertain Parameters. IEEE Transactions on Control Systems Technology. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/TCST.2017.2749564 ISSN 1063-6536
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Abstract
This paper addresses a robust adaptive control scheme based on a cascaded structure with a full state feedback controller with integrator terms as inner control loop and computed torque as outer control loop for flexible joint robots. Together with integrator effect, the adaptive control law can enhance position accuracy under uncertainties of the robot model, especially, the high friction caused by Harmonic-Drive with high gear ratio. In this paper the adaptive friction compensation is designed based on the LuGre friction model, which exhibits some advantages compared to the static friction model (e.g. no chattering effect at zero motor velocity). Furthermore, structural oscillations of the link side can be effectively damped by using joint torque feedback in the state feedback controller. So, the proposed adaptive control approach can simultaneously provide high control performance both in terms of the dynamic behavior and the position accuracy. Global asymptotic tracking is achieved for the complete controlled system. The system stability is derived using Lyapunov approaches and Barbalat’s lemma. Experimental results validate practical efficiency of the approach.
Item URL in elib: | https://elib.dlr.de/113926/ | |||||||||
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Document Type: | Article | |||||||||
Title: | Robust Adaptive Tracking Control based on State Feedback Controller with Integrator Terms for Elastic Joint Robots with Uncertain Parameters | |||||||||
Authors: |
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Date: | 25 September 2017 | |||||||||
Journal or Publication Title: | IEEE Transactions on Control Systems Technology | |||||||||
Refereed publication: | Yes | |||||||||
Open Access: | Yes | |||||||||
Gold Open Access: | No | |||||||||
In SCOPUS: | Yes | |||||||||
In ISI Web of Science: | Yes | |||||||||
DOI : | 10.1109/TCST.2017.2749564 | |||||||||
Publisher: | IEEE - Institute of Electrical and Electronics Engineers | |||||||||
ISSN: | 1063-6536 | |||||||||
Status: | Published | |||||||||
Keywords: | Adaptive control, tracking control, state feedback control, cascaded control, flexible joint robots | |||||||||
HGF - Research field: | Aeronautics, Space and Transport | |||||||||
HGF - Program: | Space | |||||||||
HGF - Program Themes: | Space Technology | |||||||||
DLR - Research area: | Raumfahrt | |||||||||
DLR - Program: | R SY - Technik für Raumfahrtsysteme | |||||||||
DLR - Research theme (Project): | R - Vorhaben Leichtbau-Robotik, R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik, R - Vorhaben Robotdynamik & Simulation | |||||||||
Location: | Oberpfaffenhofen | |||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | |||||||||
Deposited By: | Le-Tien, Dr. Luc | |||||||||
Deposited On: | 07 Dec 2017 16:04 | |||||||||
Last Modified: | 31 Jul 2019 20:11 |
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