Adaptive control for an uncertain robotic manipulator with input saturations

作     者：Trong-Toan TRAN Shuzhi Sam GE Wei HE 

作者机构：Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China (UESTC) Chengdu Sichuan 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Faculty of Electronic Technology Industrial University of rio Chi Minh City Ho Chi Minh City Vietnam School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2016年第14卷第2期

页      面：113-121页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：the National Basic Research Program of China (973 Program) the Fundamental Research Funds for the China Central Universities of UESTC 

主　　题：Robotic manipulator adaptive control uncertain parameter input saturation trajectory tracking 

摘      要：In this paper, we address the control problem of an uncertain robotic manipulator with input saturations, unknown input scalings and disturbances. For this purpose, a model reference adaptive control like （MRAC-like） is used to handle the input saturations. The model reference is input to state stable （ISS） and driven by the errors between the required control signals and input saturations. The uncertain parameters are dealt with by using linear-in-the-parameters property of robotic dynamics, while unknown input scalings and disturbances are handled by non-regressor based approach. Our design ensures that all the signals in the closed-loop system are bounded, and the tracking error converges to the compact set which depends on the predetermined bounds of the control inputs. Simulation on a planar elbow manipulator with two joints is provided to illustrate the effectiveness of the proposed controller.