Adaptive dynamic surface control of a exible-joint robot with parametric uncertainties

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Li C.G.; CUI W.; Yan D.D.; WANG Y.

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Journal Paper

Paper Information

Journal: Scientia Iranica Year:2019 | Volume:26 | Issue:5 (Transactions B: Mechanical Engineering) Page(s): 2749-2759

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Information Journal Paper

Title

Adaptive dynamic surface control of a exible-joint robot with parametric uncertainties

Author(s)

Li C.G. | CUI W. | Yan D.D. | WANG Y. | Issue Writer Certificate

Keywords

FJ robot

Dynamic surface control

Inertial parameters

Adaptive control

Tracking accuracy

Abstract

A new kind of adaptive Dynamic surface control (DSC) method is proposed in this study to overcome parametric uncertainties of Flexible-Joint (FJ) robots. These uncertainties of FJ robots are transformed into linear expressions of Inertial parameters, which are estimated based on the DSC, and the high-order derivatives in DSC are solved by using a first-order filter. The adaptation laws of Inertial parameters are designed directly to improve the tracking performance according to the Lyapunov stability analysis. Simulation results of a two-link FJ robot show better Tracking accuracy against model parametric uncertainties. The used method does not need the aid of Neural Network (NN); it is simpler and calculates faster than the other adaptive methods.

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APA: Copy

Li, C.G., CUI, W., Yan, D.D., & WANG, Y.. (2019). Adaptive dynamic surface control of a exible-joint robot with parametric uncertainties. SCIENTIA IRANICA, 26(5 (Transactions B: Mechanical Engineering)), 2749-2759. SID. https://sid.ir/paper/290553/en

Vancouver: Copy

Li C.G., CUI W., Yan D.D., WANG Y.. Adaptive dynamic surface control of a exible-joint robot with parametric uncertainties. SCIENTIA IRANICA[Internet]. 2019;26(5 (Transactions B: Mechanical Engineering)):2749-2759. Available from: https://sid.ir/paper/290553/en

IEEE: Copy

C.G. Li, W. CUI, D.D. Yan, and Y. WANG, “Adaptive dynamic surface control of a exible-joint robot with parametric uncertainties,” SCIENTIA IRANICA, vol. 26, no. 5 (Transactions B: Mechanical Engineering), pp. 2749–2759, 2019, [Online]. Available: https://sid.ir/paper/290553/en

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