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Immersion and invariance adaptive tracking control for robot manipulators with a novel modified scaling factor design
Author(s) -
Xia Dongdong,
Yue Xiaokui,
Wen Haowei,
Li Lin
Publication year - 2020
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.3072
Subject(s) - control theory (sociology) , sylvester's law of inertia , scaling , inertia , controller (irrigation) , dynamic scaling , computer science , control engineering , mathematics , engineering , artificial intelligence , control (management) , symmetric matrix , physics , eigenvalues and eigenvectors , geometry , classical mechanics , quantum mechanics , agronomy , biology
Summary The robot manipulators' tracking control problem in the presence of inertia uncertainties is addressed in this paper, and a novel dynamic scaling–based immersion and invariance (I&I) adaptive tracking controller is utilized to stabilize the proposed system. By virtue of the reconstruction method of the parameter regression matrix, this paper provides a new perspective on how to overcome the integrability obstacle typically arising in the I&I controller design through dynamic scaling and presents a new controller design method. What is more, a novel modified scaling factor is proposed as well so that the controller can be implemented without the prior knowledge of the inertia matrix's lower bound, and only the saturation function involving the scaling factor is included in the feedback gains. Finally, the numerical simulations show the validity of the proposed controller.