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Adaptive and Robust Control of Robots Including Actuator Dynamics

Salimi Khaligh, Yahya | 2010

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 40427 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Namvar, Mehrzad
  7. Abstract:
  8. Ignoring actuator dynamics in control of rigid manipulators can in practice result in performance degradation or loss of system stability. However, on the other hand, consideration of actuator dynamics usually requires measurement of robot joint torques that is not cost-effective. This thesis addresses motion tracking control of an n-DOF rigid robot by taking into account its actuator dynamics. Joint torque measurement is avoided by using an adaptive observer. The novelty of this thesis is in developing a controller for robot manipulators including non-negligible actuator dynamics in presence of uncertainty in robot dynamics; without using joint torque measurement. Controller design is done in two steps: 1-In first step a non-adaptive smooth controller is designed using backstepping technique, assuming all the system parameters to be known. Global asymptotic convergence of motion tracking error is proven via Lyapunov stability analysis. And Finally the performance of the proposed controller is demonstrated by a simulation example. 2-In the next step, an adaptive smooth controller is designed using backstepping technique, assuming the presence of uncertainties in system parameters and unavailability of joint torque measurement. In this controller joint torque measurement is avoided by using its estimation via an adaptive observer. Semi-global convergences of motion tracking errors as well as torque estimation error are proven without any persistency of excitation condition. Simulation examples demonstrate low noise sensitivity of the proposed method in comparison with those using torque measurement.

  9. Keywords:
  10. Robot ; Adaptive Control ; Observer ; Actuator Dynamics

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