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An optimization-based approach to control of robotic manipulators

Mohajerin Esfahani, P ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1109/ROBOT.2009.5152459
  3. Publisher: 2009
  4. Abstract:
  5. This paper proposes a method to suboptimally tune the control parameters in a conventional Lyapunov-Based method which shares the same concept of control design with sliding mode approach as applied to the robot manipulators. Optimal tuning of such parameters involves handling of nonlinearities in system dynamics and cost functions, which makes the problem challenging. We propose a step-by-step numerical algorithm that select suboptimal parameters while ensuring system stability. The controller is, suboptimal due to the facts that (1) it is in the form of a Slotine-type sliding mode control, (2) the numerical recursive algorithm might fall into a local minimum, and (3) the controller coefficients depend on the initial conditions of the system. The method is successfully applied to a two-link robot manipulator and the results are compared in simulation with those of a conventional controller. © 2009 IEEE
  6. Keywords:
  7. Control design ; Control parameters ; Controller coefficient ; Conventional controllers ; Initial conditions ; Local minimums ; Lyapunov ; Non-Linearity ; Nonlinear system control ; Numerical algorithms ; Optimal tuning ; Recursive algorithms ; Robot manipulator ; Robotic manipulators ; Sliding mode ; Sliding modes ; Step-by-step ; System Dynamics ; Two-link robot manipulators ; Control system analysis ; Convergence of numerical methods ; Cost functions ; Flexible manipulators ; Industrial robots ; Machine design ; Modular robots ; Nonlinear systems ; Optimization ; Robot applications ; Robotics ; System stability ; Controllers
  8. Source: Proceedings - IEEE International Conference on Robotics and Automation, 12 May 2009 through 17 May 2009, Kobe ; 2009 , Pages 3347-3352 ; 10504729 (ISSN); 9781424427895 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/5152459