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Robust adaptive control of robot manipulators using Bernstein polynomials as universal approximator
Author(s) -
Izadbakhsh Alireza,
Khorashadizadeh Saeed
Publication year - 2020
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4913
Subject(s) - control theory (sociology) , controller (irrigation) , convergence (economics) , polynomial , stability (learning theory) , computer science , robustness (evolution) , robust control , actuator , robot , robot manipulator , control engineering , mathematics , control system , control (management) , engineering , artificial intelligence , mathematical analysis , biochemistry , chemistry , electrical engineering , machine learning , gene , agronomy , economics , biology , economic growth
Summary This article presents a robust adaptive controller for electrically driven robots using Bernstein polynomials as universal approximator. The lumped uncertainties including unmodeled dynamics, external disturbances, and nonimplemented control signals (they assumed as a function of time, instead a function of several variables) are represented with this powerful mathematical tool. The polynomial coefficients are then tuned based on the adaptation law obtained in the stability analysis. A comprehensive approach is adopted to include the saturated and unsaturated areas and also the transition between these areas in the stability analysis. As a result, the stability and the performance of the proposed controller have been improved considerably in dealing with actuator saturation. Also, in comparison with a recent paper based on uncertainty estimation using Taylor series, the proposed controller is less computational due to reducing the size of the matrix of convergence rate. A performance evaluation has been carried out to verify satisfactory performance of transient response of the controller. Simulation results on a Puma560 manipulator actuated by geared permanent magnet dc motors have been presented to guarantee its satisfactory performance.