Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2015.15.0173

Decentralized Robust Adaptive Control for Robot Manipulators with Input Torque Saturation  

Shin, Jin-Ho (Department of Mechatronics Engineering, College of ICT Engineering, Dong-eui University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.12, 2015 , pp. 1160-1166 More about this Journal
Abstract
This paper proposes a decentralized robust adaptive control scheme for robot manipulators with input torque saturation in the presence of uncertainties. The control system should consider the practical problems that the controller gain coefficients of each joint may be nonlinear time-varying and the input torques applied at each joint are saturated. The proposed robot controller overcomes the various uncertainties and the input saturation problem. The proposed controller is comparatively simple and has no robot model parameters. The proposed controller is adjusted by the adaptation laws and the stability of the control system is guaranteed by the Lyapunov function analysis. Simulation results show the validity and robustness of the proposed control scheme.
Keywords
robot manipulators; input torque saturation; decentralized control; robust adaptive control; uncertainties;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 M. Liu, "Decentralized control for robot manipulators : nonlinear and adaptive approaches," IEEE Trans. on Automatic Control, vol. 44, no. 2, pp. 357-363, 1999.   DOI
2 Y. Tang, M. Tomizuka, G. Guerrero, and G. Montemayor, "Decentralized robust control of mechanical systems," IEEE Trans. on Automatic Control, vol. 45, no. 4, pp. 771-776, 2000.   DOI
3 S. H. Lee, Y. Y. Lee, and K. H. Shin, "Decentralized adaptive control of robot manipulators," Journal of the Korean Society of Precision Engineering (in Korean), vol. 21, no. 11, pp. 110-116, 2004.
4 M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control, Wiley, 2006.
5 S. H. Hsu and L. C. Fu, "A fully adaptive decentralized control of robot manipulators," Automatica, vol. 42, no. 10. pp. 1761-1767, 2006.   DOI
6 R. Garcia-Hemandez, E. N. Sanchez, E. Bayro-Corrochano, M. A. Llamam, and J. A. Ruz-Hernandez, "Real-time decentralized neural backstepping control: Application to a two DOF robot manipulator," International Journal of Innovative Computing, Information and Control, vol. 7, no. 2, pp. 965-976, 2011.
7 Z. J. Yang, Y. Fukushima, and P. Qin, "Decentralized adaptive robust control of robot manipulators using disturbance observers," IEEE Trans. on Control Systems Technology, vol. 20, no. 5, pp. 1357-1365, 2012.   DOI
8 Q. Zhou, H. Li, and P. Shi, "Decentralized adaptive fuzzy tracking control for robot finger dynamics," IEEE Trans. on Fuzzy Systems, vol. 23, no. 3, pp. 501-510, Jun. 2015.   DOI
9 J. Moreno-Valenzuela, V. Santibanez, and R. Campa, "On output feedback tracking control of robot manipulators with bounded torque input," International Journal of Control, Automation, and Systems, vol. 6, no. 1, pp. 76-85, 2008.
10 E. Aguinaga-Ruiz, A. Zavala-Rio, V. Santibanez, and F. Reyes, "Global trajectory tracking through static feedback for robot manipulators with bounded inputs," IEEE Trans. on Control Systems Technology, vol. 17, no. 4, pp. 934-944, 2009.   DOI
11 Y. Su, P. C. Muller, and C. Zheng, "Global asymptotic saturated PID control for robot manipulators," IEEE Trans. on Control Systems Technology, vol. 18, no. 6, pp. 1280-1288, 2010.   DOI
12 S. E. Shafiei and S. Sepasi, "Incorporating sliding mode and fuzzy controller with bounded torques for set-point tracking of robot manipulators," Electronics and Electrical Engineering, no. 8, pp. 3-8, 2010.
13 Y. Su and C. Zheng, "A simple repetitive learning control for asymptotic tracking of robot manipulators with actuator saturation," Preprints of the 18th IFAC World Congress, pp. 6886-6891, Milano, Italy, Aug.-Sep. 2011.
14 M. Mendoza, A. Zavala-Rio, V. Santibanez, and F. Reyes, "A PID-type global regulator with simple tuning for robot manipulators with bounded inputs," Proc. of IEEE Conference on Decision and Control, pp. 6335-6341, LA, USA, Dec. 2014.
15 J. B. Park and J. Y. Lee, "Nonlinear adaptive control based on Lyapunov analysis : overview and survey," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 3, pp. 261-269, 2014.   DOI
16 D. J. Loez-Araujo, A. Zavala-Rio, V. Sanibanez, and F. Reyes, "A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs," International Journal of Adaptive Control and Signal Processing, vol. 29, no. 2, pp. 180-200, 2015.   DOI
17 T. Meta, G. Y. Gyeong, J. H. Park, and Y. S. Lee, "Swing-up control of an inverted pendulum subject to input/output constraints," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 8, pp. 835-841, 2014.   DOI
18 J. H. Shin and W. B. Baek, "Robust adaptive fault-tolerant control for robot manipulators with performance degradation due to actuator failures and uncertainties," The Transactions of The Korean Institute of Electrical Engineers (in Korean), vol. 53D, no. 3, pp. 173-181, 2004.