Adaptive Control of Robotic Arm-Based Motion Cueing System Considering Phase Restrictions

Olga Andrianova, Isaac Chairez, Alexander Poznyak, Alejandra Hernandez Sanchez, Caridad Mireles, Viktor Chertopolokhov, Grigory Bugriy

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

A novel controller for solving the acceleration tracking of an end-effector of a multi-articulated robotic manipulator is proposed in this study, including the actuator dynamics as part of the control design. The controller possesses state dependent gains that include the presence of states restrictions in angular displacements and velocities for the robot joints. The design of the state-dependent gains is developed using a class of logarithmic barrier Lyapunov functions with time-varying parameters that are evolving using the state restrictions information. A back-stepping strategy leads to defining the design of the voltage that drives the actuators to complete the acceleration tracking when it is feasible considering the complementary joints restrictions. The proposed controller is numerically evaluated using a virtual representation of six degrees of freedom industrial robot. The obtained trajectories for acceleration of the end-effector show the effective tracking of the reference acceleration, while the joints position and velocities restrictions are satisfied. The second set of evaluations confirm that under some non-feasible reference accelerations, the joints restrictions are satisfied. The comparison with traditional non-restricted state feedback confirmed the superiority of the proposed controller, measured in terms of the mean square error of the acceleration tracking and the satisfaction of the joint restrictions.

Idioma originalInglés
Título de la publicación alojadaProceedings of 2022 16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference), STAB 2022
EditoresValentin N. Tkhai
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781665465861
DOI
EstadoPublicada - 2022
Evento16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference), STAB 2022 - Moscow, Federación de Rusia
Duración: 1 jun 20223 jun 2022

Serie de la publicación

NombreProceedings of 2022 16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference), STAB 2022

Conferencia

Conferencia16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference), STAB 2022
País/TerritorioFederación de Rusia
CiudadMoscow
Período1/06/223/06/22

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