TY - GEN
T1 - Adaptive Controller Based on Barrier Lyapunov Function for a Composite Cartesian-Delta Robotic Device for Precise Time-Varying Position Tracking
AU - Bautista, Jazmin Mendoza
AU - Torres-Mendez, L. Abril
AU - Chairez, Isaac
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper describes the design of an adaptive controller based on a barrier Lyapunov function (CBLF) that solves the trajectory tracking problem of a hybrid robotic structure with an event-driven regulator. The selected robot is a fully actuated Cartesian-delta device composed of 5 Degrees of Freedom (DoFs); the first 2 DoFs correspond to the Cartesian robot, and the last 3 DoFs for the delta device. This adaptive controller considers the state restrictions for the end-effector position and the set of joints. The activation function of the adaptive event-driven controller is defined according to a convergence quality indicator, and its adjustment laws for the control gains were derived using a control barrier Lyapunov function. An experimental test is presented to prove the algorithm performance. The robot tracked the reference trajectories considering that the robot works in two stages; one for the serial and the other for the parallel one. The adaptive scheme a better performance than the proportional- integral-derivative (PID) control.
AB - This paper describes the design of an adaptive controller based on a barrier Lyapunov function (CBLF) that solves the trajectory tracking problem of a hybrid robotic structure with an event-driven regulator. The selected robot is a fully actuated Cartesian-delta device composed of 5 Degrees of Freedom (DoFs); the first 2 DoFs correspond to the Cartesian robot, and the last 3 DoFs for the delta device. This adaptive controller considers the state restrictions for the end-effector position and the set of joints. The activation function of the adaptive event-driven controller is defined according to a convergence quality indicator, and its adjustment laws for the control gains were derived using a control barrier Lyapunov function. An experimental test is presented to prove the algorithm performance. The robot tracked the reference trajectories considering that the robot works in two stages; one for the serial and the other for the parallel one. The adaptive scheme a better performance than the proportional- integral-derivative (PID) control.
KW - adaptive control
KW - barrier lyapunov function
KW - event-driver regulators
KW - hybrid robots
KW - position control
UR - http://www.scopus.com/inward/record.url?scp=85147544653&partnerID=8YFLogxK
U2 - 10.1109/ICCMA56665.2022.10011602
DO - 10.1109/ICCMA56665.2022.10011602
M3 - Contribución a la conferencia
AN - SCOPUS:85147544653
T3 - 2022 10th International Conference on Control, Mechatronics and Automation, ICCMA 2022
SP - 1
EP - 6
BT - 2022 10th International Conference on Control, Mechatronics and Automation, ICCMA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th International Conference on Control, Mechatronics and Automation, ICCMA 2022
Y2 - 9 November 2022 through 12 November 2022
ER -