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Adaptive Tracking Control with Uncertainty-aware and State-dependent Feedback Action Blending for Robot Manipulators

Wu, Xuwei and Kirner, Annika and Garofalo, Gianluca and Ott, Christian and Kotyczka, Paul and 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), pp. 12307-12314. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3212669. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9913624


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+.

Item URL in elib:https://elib.dlr.de/188701/
Document Type:Article
Additional Information:© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Title:Adaptive Tracking Control with Uncertainty-aware and State-dependent Feedback Action Blending for Robot Manipulators
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Wu, XuweiUNSPECIFIEDhttps://orcid.org/0000-0003-2616-9149UNSPECIFIED
Kirner, AnnikaUNSPECIFIEDhttps://orcid.org/0000-0003-1196-1301UNSPECIFIED
Garofalo, GianlucaUNSPECIFIEDhttps://orcid.org/0000-0002-7481-3464UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Date:10 October 2022
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 12307-12314
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Adaptive control, motion control, automatic feedback action blending, uncertainty measure
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Wu, Xuwei
Deposited On:19 Oct 2022 16:04
Last Modified:09 Jan 2023 07:42

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