Adaptive control of a two-link robot using batch least-square identifier
Adaptive control of a two-link robot using batch least-square identifier
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DOI：
10.1109/jas.2020.1003459
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发表时间：
2021-01
期刊：
影响因子：
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通讯作者：
M. Bagheri;I. Karafyllis;Peiman Naseradinmousavi;M. Krstić
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文献类型：
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作者：
M. Bagheri;I. Karafyllis;Peiman Naseradinmousavi;M. Krstić
为了有效地估计未知参数，并在耦合不确定性条件下实现机器人的渐近稳定，设计了一种调节触发自适应控制器。机器人机械手广泛应用于受模型和环境不确定性影响的远程操作系统中。在这种系统上使用传统的控制算法不仅会导致控制性能差，而且计算成本昂贵和灾难性不稳定。因此，需要通过设计计算效率高的自适应控制律来估计系统的不确定性。我们把机器人操纵器作为一个高度非线性系统的例子。以具有四参数不确定性的二自由度机械臂为例进行了研究。首先，推导了机械臂的动力学方程，并对未知参数建立了相应的回归矩阵。对于一般的非线性系统，给出了保证系统渐近稳定和参数估计收敛的定理。最后，对一个双连杆机械臂的仿真结果进行了讨论，并对所提方案的性能进行了全面评估。
We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties. Robot manipulators are widely used in telemanipulation systems where they are subject to model and environmental uncertainties. Using conventional control algorithms on such systems can cause not only poor control performance, but also expensive computational costs and catastrophic instabilities. Therefore, system uncertainties need to be estimated through designing a computationally efficient adaptive control law. We focus on robot manipulators as an example of a highly nonlinear system. As a case study, a 2-DOF manipulator subject to four parametric uncertainties is investigated. First, the dynamic equations of the manipulator are derived, and the corresponding regressor matrix is constructed for the unknown parameters. For a general nonlinear system, a theorem is presented to guarantee the asymptotic stability of the system and the convergence of parametersʼ estimations. Finally, simulation results are discussed for a two-link manipulator, and the performance of the proposed scheme is thoroughly evaluated.