Adaptive control for an uncertain robotic manipulator with input saturations  

作　　者：Trong-Toan TRAN Shuzhi Sam GE Wei HE 

机构地区：[1]Center for Robotics and School of Automation Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu Sichuan 611731, China [2]Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 117576 [3]Faculty of Electronic Technology, Industrial University of rio Chi Minh City, Ho Chi Minh City, Vietnam [4]School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China

出　　处：《Control Theory and Technology》2016年第2期113-121,共9页控制理论与技术（英文版）

摘　　要：In this paper, we address the control problem of an uncertain robotic manipulator with input saturations, unknown input scalings and disturbances. For this purpose, a model reference adaptive control like （MRAC-like） is used to handle the input saturations. The model reference is input to state stable （ISS） and driven by the errors between the required control signals and input saturations. The uncertain parameters are dealt with by using linear-in-the-parameters property of robotic dynamics, while unknown input scalings and disturbances are handled by non-regressor based approach. Our design ensures that all the signals in the closed-loop system are bounded, and the tracking error converges to the compact set which depends on the predetermined bounds of the control inputs. Simulation on a planar elbow manipulator with two joints is provided to illustrate the effectiveness of the proposed controller.In this paper, we address the control problem of an uncertain robotic manipulator with input saturations, unknown input scalings and disturbances. For this purpose, a model reference adaptive control like （MRAC-like） is used to handle the input saturations. The model reference is input to state stable （ISS） and driven by the errors between the required control signals and input saturations. The uncertain parameters are dealt with by using linear-in-the-parameters property of robotic dynamics, while unknown input scalings and disturbances are handled by non-regressor based approach. Our design ensures that all the signals in the closed-loop system are bounded, and the tracking error converges to the compact set which depends on the predetermined bounds of the control inputs. Simulation on a planar elbow manipulator with two joints is provided to illustrate the effectiveness of the proposed controller.

关 键 词：Robotic manipulator adaptive control uncertain parameter input saturation trajectory tracking 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]