Robust Adaptive Control for Robotic Systems With Input Time-Varying Delay Using Hamiltonian Method  

作　　者：Yong Ren Weiwei Sun 

机构地区：[1]Institute of Automation,Qufu Normal University,Qufu 273165,China [2]School of Engineering,Qufu Normal University,Rizhao 276826,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2018年第4期852-859,共8页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(61703232);the Natural Science Foundation of Shandong Province(ZR2017MF068,ZR2017QF013)

摘　　要：This paper addresses the problem of robust adaptive control for robotic systems with model uncertainty and input time-varying delay. The Hamiltonian method is applied to develop the stabilization results of the robotic systems. Firstly, with the idea of shaping potential energy and the pre-feedback skill, the n degree-of-freedom(DOF) uncertain robotic systems are realized as an augmented dissipative Hamiltonian formulation with delay.Secondly, based on the obtained Hamiltonian system formulation and by using of the Lyapunov-Krasovskii(L-K) functional method, an adaptive controller is designed to show that the robotic systems can be asymptotically stabilized depending on the input delay. Meanwhile, some sufficient conditions are spelt out to guarantee the rationality and validity of the proposed control law. Finally, study of an illustrative example with simulations shows that the controller obtained in this paper works very well in handling uncertainties and input delay in the robotic systems.This paper addresses the problem of robust adaptive control for robotic systems with model uncertainty and input time-varying delay. The Hamiltonian method is applied to develop the stabilization results of the robotic systems. Firstly, with the idea of shaping potential energy and the pre-feedback skill, the n degree-of-freedom（DOF） uncertain robotic systems are realized as an augmented dissipative Hamiltonian formulation with delay.Secondly, based on the obtained Hamiltonian system formulation and by using of the Lyapunov-Krasovskii（L-K） functional method, an adaptive controller is designed to show that the robotic systems can be asymptotically stabilized depending on the input delay. Meanwhile, some sufficient conditions are spelt out to guarantee the rationality and validity of the proposed control law. Finally, study of an illustrative example with simulations shows that the controller obtained in this paper works very well in handling uncertainties and input delay in the robotic systems.

关 键 词：Adaptive controller Hamiltonian systems input delay Lyapunov-Krasovskii(L-K) functional robotic systems 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]