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Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions
Author(s) -
Azizi Yaghoub,
Yazdizadeh Alireza
Publication year - 2019
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2968
Subject(s) - control theory (sociology) , compensation (psychology) , controller (irrigation) , adaptive control , joint (building) , lyapunov function , temperature control , work (physics) , dynamical friction , convergence (economics) , position (finance) , stability (learning theory) , computer science , control engineering , engineering , control (management) , materials science , physics , structural engineering , mechanical engineering , nonlinear system , artificial intelligence , psychoanalysis , economic growth , composite material , biology , psychology , quantum mechanics , machine learning , agronomy , finance , economics
Summary Mechanical systems are always suffering from the effects of temperature dependent friction forces where the system is operated in a wide range of temperature. Temperature and its variation play an important role in friction force in mechanical systems. If it is not compensated, it will tend to unwanted consequences, including steady‐state errors, limit cycling, and hunting. Therefore, it is necessary to take the temperature effects into account. This has been a strong motivation for the researchers to work on temperature effects on joint friction. In this paper, an adaptive compensation (control) scheme is proposed and applied to a 2‐degree‐of‐freedom serial robot manipulator by taking the temperature effects into account on the joints friction. In the proposed control scheme, the temperature is not required to be sensed. In this paper, joint friction is described by LuGre dynamic model with temperature dependent parameters. These parameters are described by some functions with unknown temperature dependent terms. According to the mathematical and practical concepts, the temperature dependent friction is decomposed into a viscous term and a disturbance term. An adaptive controller is designed to compensate the friction effect and it is shown that the proposed controller relaxes the condition for a priori knowledge about the environment characteristics, including the upper and lower bounds of the environment temperature and the parameters of the functions, describing the temperature dependent joint frictions. The stability and convergence of the joint position and velocity are proved in the sense of Lyapunov and then the proposed method is confirmed by the simulations.