Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators

Authors:
Chian-Song Chiu;Kuang-Yow Lian;Tsu-Cheng Wu
Affiliations:
Department of Electrical Engineering, Chung-Yuan Christian University, Chung-Li 32023, Taiwan;Department of Electrical Engineering, Chung-Yuan Christian University, Chung-Li 32023, Taiwan;Department of Electrical Engineering, Chung-Yuan Christian University, Chung-Li 32023, Taiwan
Venue:
Automatica (Journal of IFAC)
Year:
2004

Citing 7
Cited 7

Variable structure adaptive motion and force control of robot manipulators

Automatica (Journal of IFAC)
Robust motion and force control of constrained manipulators by learning

Automatica (Journal of IFAC)
Combined adaptive and variable structure control for constrained robots

Automatica (Journal of IFAC)
Adaptive control in robotic systems with H∞ tracking performance

Automatica (Journal of IFAC)
Theory of Robot Control

Theory of Robot Control
A robust position/force learning controller of manipulators vianonlinear H∞ control and neural networks

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Robust tracking designs for both holonomic and nonholonomic constrained mechanical systems: adaptive fuzzy approach

IEEE Transactions on Fuzzy Systems

Force position control for a robot finger with a soft tip and kinematic uncertainties

Robotics and Autonomous Systems
Brief paper: Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics

Automatica (Journal of IFAC)
Brief paper: Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control

Automatica (Journal of IFAC)
Brief paper: Modified transpose Jacobian control of robotic systems

Automatica (Journal of IFAC)
Force and velocity observers for the control of cooperative robots1

Robotica
Dynamic External Force Feedback Loop Control of a Robot Manipulator Using a Neural Compensator-Application to the Trajectory Following in an Unknown Environment

International Journal of Applied Mathematics and Computer Science
Decentralized control of cooperative robots without velocity-force measurements

Automatica (Journal of IFAC)

Quantified Score

Hi-index	22.15

Visualization

Abstract

In the presence of uncertain constraint and robot model, an adaptive controller with robust motion/force tracking performance for constrained robot manipulators is proposed. First, robust motion and force tracking is considered, where a performance criterion containing disturbance and estimated parameter attenuations is presented. Then the proposed controller utilizes an adaptive scheme and an auxiliary control law to deal with the uncertain environmental constraint, disturbances, and robotic modeling uncertainties. After solving a simple linear matrix inequality for gain conditions, the effect from disturbance and estimated parameter errors to motion/force errors is attenuated to an arbitrary prescribed level. Moreover, if the disturbance and estimated parameter errors are square-integrable, then an asymptotic motion tracking is achieved while the force error is as small as the inversion of control gain. Finally, numerical simulation results for a constrained planar robot illustrate the expected performance.