Wu, Xuwei und Kirner, Annika und Garofalo, Gianluca und Ott, Christian und Kotyczka, Paul und Dietrich, Alexander (2022) Adaptive Tracking Control with Uncertainty-aware and State-dependent Feedback Action Blending for Robot Manipulators. IEEE Robotics and Automation Letters, 7 (4), Seiten 12307-12314. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3212669. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/9913624
Kurzfassung
Adaptive control can significantly improve tracking performance of robot manipulators subject to modeling errors in dynamics. In this letter, we propose a new framework combining the composite adaptive controller using a natural adaptation law and an extension of the adaptive variance algorithm (AVA) for controller blending. The proposed approach not only automatically adjusts the feedback action to reduce the risk of violating actuator constraints but also anticipates substantial modeling errors by means of an uncertainty measure, thus preventing severe performance deterioration. A formal stability analysis of the closed-loop system is conducted. The control scheme is experimentally validated and directly compared with baseline methods on a torque-controlled KUKA LWR IV+.
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Titel: | Adaptive Tracking Control with Uncertainty-aware and State-dependent Feedback Action Blending for Robot Manipulators | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 10 Oktober 2022 | ||||||||||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
Band: | 7 | ||||||||||||||||||||||||||||
DOI: | 10.1109/LRA.2022.3212669 | ||||||||||||||||||||||||||||
Seitenbereich: | Seiten 12307-12314 | ||||||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | Adaptive control, motion control, automatic feedback action blending, uncertainty measure | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||
Hinterlegt von: | Wu, Xuwei | ||||||||||||||||||||||||||||
Hinterlegt am: | 19 Okt 2022 16:04 | ||||||||||||||||||||||||||||
Letzte Änderung: | 09 Jan 2023 07:42 |
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