An Adaptive Manipulator Controller Based on Force and Parameter Estimation


IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E89-A   No.10   pp.2803-2811
Publication Date: 2006/10/01
Online ISSN: 1745-1337
DOI: 10.1093/ietfec/e89-a.10.2803
Print ISSN: 0916-8508
Type of Manuscript: Special Section PAPER (Special Section on Nonlinear Theory and its Applications)
Category: Control, Neural Networks and Learning
adaptive control,  force estimation,  parameter estimation,  disturbance rejection,  non-autonomous systems,  uniform stability,  invariant set,  

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Consideration of manipulator dynamics and external disturbances in robot control system design can enhance the stability and performance properties of the whole system. In this paper, we present an approach to solve the control problem when the inertia parameters of robot are unknown, and at the same time robot is subjected to external force disturbances. This approach is based on simultaneous estimation of force signal and inertia parameters and utilizing them in the control law. The update laws and the control law are derived based on a single time-varying Lyapunov function, so that the global convergence of the tracking error is ensured. A theorem with a detailed proof is presented to guarantee the global uniform asymptotic stability of the whole system. Some simulations are made for a number of external forces to illustrate the effectiveness of the proposed approach.