Open AccessDecentralised adaptive control of cooperating Robotic manipulators with disturbance observers
Author(s) -
Li Zhijun,
Deng Shuming,
Su ChunYi,
Li Guanglin,
Yu Zhangguo,
Liu Yanjun,
Wang Min
Publication year - 2014
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2013.0611
Subject(s) - control theory (sociology) , trajectory , control engineering , observer (physics) , disturbance (geology) , adaptive control , computer science , decentralised system , adaptation (eye) , robot manipulator , motion control , object (grammar) , control (management) , robot , engineering , artificial intelligence , paleontology , physics , optics , quantum mechanics , astronomy , biology
In this study, the authors present decentralised adaptive controllers for two cooperating robotic manipulators moving an object with constrained trajectory/force in the presence of dynamics uncertainties and external disturbances. The cooperating manipulators are described as an aggregation of subsystems. For control design, first a decentralised local dynamics coupled with physical interactions between subsystems is developed, and then a decentralised adaptive control merging parameter adaptation and disturbance observer is constructed, such that motion and force trajectories converge to the desired manifolds and the effect of non‐parametrisable uncertainties is compensated by the disturbance observer. Experiment studies are carried out to show the efficiency of the control design.