Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2008.14.11.1103

A Study on Simple Adaptive Control of Flexible-Joint Robots Considering Motor Dynamics  

Yoo, Sung-Jin (연세대학교 전기전자공학과)
Choi, Yoon-Ho (경기대학교 전자공학부)
Park, Jin-Bae (연세대학교 전기전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.11, 2008 , pp. 1103-1109 More about this Journal
Abstract
Since the flexible joint robots with motor dynamics are represented by the fifth-order nonlinear sγstem, it is difficult and complex to design the controller for electrically driven flexible-joint (EDFJ) robots. In this paper, we propose a simple adaptive control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. For the simple control design, the dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. It is proved that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.
Keywords
adaptive control; dynamic surface design; function approximation technique;
Citations & Related Records

Times Cited By SCOPUS : 0
연도 인용수 순위
  • Reference
1 F. J. Lin, T. S. Lee and C. H. Lin, 'Robust $H\infty$ controller design with recurrent neural network for linear synchronous motor drive,' IEEE Trans. Industrial Electronics, vol. 50, no. 3, pp. 456-470, 2003   DOI   ScienceOn
2 P. A. Ioannou and P. V. Kokotovic. Adaptive Systems with Reduced Models, NY: Springer-Verlag, 1983
3 S. J. Yoo, J. B. Park and Y. H. Choi, 'Adaptive dynamic surface control of flexible-joint robots using self-recurrent wavelet neural networks,' IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 36, no. 6, pp. 1342-1355, Dec. 2006   DOI   ScienceOn
4 J. H. Oh and J. S. Lee, 'Control of flexble joint robot system by backstepping design approach,' in Proc. of the IEEE Int. Conf. Robotics and Automation, pp. 3435-3429, 1997
5 A. A. Abouelsoud, 'Robust regulator for flexible-joint robots using integrator backstepping,' Jour. of Intelligent and Robotic Systems, vol. 22, pp. 23-38, 1998   DOI
6 S. Nicosia and P. Tomei, 'A new approach to control elastic joint robots with application to adaptive control,' in Proc. of IEEE Conf. Decision and Control, pp. 343-347, 1991
7 M.-C. Chien and A.-C. Huang, 'Adaptive control for flexiblejoint electrically driven robot with time-varying uncertainties,' IEEE Trans. Industrial Electronics, vol. 54, no. 2, pp. 1032-1038, 2007   DOI   ScienceOn
8 D. Swaroop, J. K. Hedrick, P. P. Yip and J. C. Gerdes, 'Dynamic surface control for a class of nonlinear systems,' IEEE Trans. Automa. Control, vol. 45, no 10, pp. 1893-1899, 2000   DOI   ScienceOn
9 M. Krstic, I. Kanellakopoulos and P. Kokotovic, Nonlinear and Adaptive Control Design, NJ: Wiley Interscience, 1995
10 S. J. Yoo, J. B. Park and Y. H. Choi, 'Indirect adaptive control of nonlinear dynamic systems using self recurrent wavelet neural network via adaptive learning rates,' Information Sciences, vol. 177, no. 15, pp. 3074-3098, 2007   DOI   ScienceOn
11 C. Kwan and F. L. Lewis, 'Robust backstepping control of nonlinear systems using neural networks,' IEEE Trans. Syst., Man, and Cybern., A, Syst. Humans, vol. 30, no. 6, pp. 753-766, 2000   DOI   ScienceOn
12 H. S. Ramirez, S. Ahmad and M. Zribi, 'Dynamical feedback control of robotic manipulators with joint flexibility,' IEEE Trans. Syst., Man, and Cybern., vol. 22, no. 4, pp. 736-747, 1992   DOI   ScienceOn
13 C. W. Park and Y. W. Cho, 'Adaptive tracking control of flexible joint manipulator based on fuzzy model reference approach,' IEE Proc.-Control Theory and Appl., vol. 150, no. 2, pp. 198- 204, 1992
14 E. Gurkan, S. P. Banks and I. Erkmen, 'Stable controller design for the T-S fuzzy model of a flexible-joint robot arm based on Lie algebra,' in Proc. of IEEE Conf. Decision and Control, pp. 4717-4722, 2003
15 C. J. B. Macnab, G. M. T. D'Eleuterio and M. Meng, 'CMAC adaptive control of flexible-joint robots using backstepping with tuning functions,' in Proc. of the IEEE Int. Conf. Robotics and Automation, pp. 2679-2686, 2004
16 P. Tomei, 'A simple PD controller for robots with elastic joints,' IEEE Trans. Automa. Control, vol. 36, no. 10, pp. 1208-1213, 1991   DOI   ScienceOn
17 J. A. T. Machado, 'Variable structure control of manipulators with compliant joints,' in Proc. IEEE Int. Conf. Industrial Electronics, pp. 554-559, 1993