Amplifier Gain Tuning‐Based Slotine‐Li Adaptive Manipulator Control. Issue 2 (12th May 2014)

• Record Type: Journal Article
• Authors: Yih, Chih‐Chen; Baranyi, Péter; Yam, Yeung
• Is Part Of: Asian journal of control. Volume 17:Issue 2(2015:Mar.)
• Page Start: 716
• Page End: 721
• Publication Date: 2014-05-12
• Subjects: Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.902
• Languages: English
• ISSNs: 1561-8625

Abstract

<abstract abstract-type="main"> <title>Abstract</title> <p>Exploiting the linear parameterization and skew‐symmetric properties from the robot model, the Slotine‐Li 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 Slotine‐Li 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 Slotine and Li. We explicitly define the error of amplifier gain, and we show from Lyapunov 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.</p> </abstract>