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A regressor-free adaptive controller for robot manipulators without Slotine and Li's modification

Published online by Cambridge University Press:  01 May 2013

Chen-Yu Kai and
An-Chyau Huang
Chen-Yu Kai*
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Rd., Sec. 4, Taipei 10607, Taiwan, Republic of China. E-mail: achuang@mail.ntust.edu.tw
An-Chyau Huang
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Rd., Sec. 4, Taipei 10607, Taiwan, Republic of China. E-mail: achuang@mail.ntust.edu.tw
*
*Corresponding author. E-mail: D9603405@mail.ntust.edu.tw
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Summary

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Similar to the traditional adaptive strategies for robot manipulators, the regressor-free adaptive controller design also requires applying Slotine and Li's modification to avoid the feedback of joint accelerations. In this paper, a simple method is proposed to construct a regressor-free adaptive controller for robot manipulators without Slotine and Li's modification. In the new design, the joint acceleration vector is lumped into an unknown time-varying function and the function approximation technique is utilized to cover its effect; therefore, its implementation is free from joint acceleration feedback. The closed-loop stability and boundedness of internal signals are justified by the Lyapunov-like technique. Both simulation and experimental results for a two-link robot are presented to show the effectiveness of the proposed design.

Keywords

RobotAdaptive controlFunction approximation technique (FAT)

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 7 , October 2013, pp. 1051 - 1058
Copyright
Copyright © Cambridge University Press 2013 

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