Polynomial-Based Robust Adaptive Impedance Control of Electrically Driven Robots. Issue 7 (4th July 2021)

• Record Type: Journal Article
• Authors: Izadbakhsh, Alireza; Khorashadizadeh, Saeed
• Is Part Of: Robotica. Volume 39:Issue 7(2021)
• Page Start: 1181
• Page End: 1201
• Publication Date: 2021-07-04
• Subjects: Impedance control, -- Robot manipulator, -- Function approximation technique, -- Robust adaptive control, -- Universal approximation theorem; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574720001009
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: This paper presents a robust adaptive impedance controller for electrically driven robots using polynomials of degree N as a universal approximator. According to the universal approximation theorem, polynomials of degree N can approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed and proved in this paper. The polynomial coefficients are estimated based on the adaptive law calculated in the stability analysis. A performance evaluation has been carried out to verify satisfactory performance of the controller. Simulation results on a two degree of freedom manipulator have been presented to guarantee its successful implementation.