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Robust Adaptive Tracking Control based on State Feedback Controller with Integrator Terms for Elastic Joint Robots with Uncertain Parameters

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/
Document Type:Article
Title:Robust Adaptive Tracking Control based on State Feedback Controller with Integrator Terms for Elastic Joint Robots with Uncertain Parameters
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Le-Tien, LucLuc.Le-Tien (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
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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