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Amplifier Gain Tuning‐Based S lotine‐ L i Adaptive Manipulator Control
Author(s) -
Yih ChihChen
Publication year - 2015
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.902
Subject(s) - control theory (sociology) , adaptive control , actuator , amplifier , computer science , control engineering , engineering , control (management) , electronic engineering , artificial intelligence , cmos
Abstract Exploiting the linear parameterization and skew‐symmetric properties from the robot model, the S lotine‐ L i adaptive control cannot directly be implemented in robot control because the control torque is produced by actuators with electrical drives and power amplifiers. Without considering the actuator dynamics and amplifier gains, the adaptive control can deteriorate in performance and the stability can be violated for the robot manipulators. This paper proposes a simple and novel approach that can represent the effects of actuators with electrical drives by a constant gain from the control signal to the torque and retain the S lotine‐ L i adaptive control scheme by achieving a balance between actuator modeling and control implementation. Incorporating the adaptive tuning of the amplifier gain, we extend the adaptive control algorithm proposed by S lotine and L i. We explicitly define the error of amplifier gain, and we show from L yapunov analysis that the estimation error is bounded. In the simulation, we numerically verify the effectiveness of our approach and the improved performance over the non‐adaptive amplifier gain algorithm.