Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances
Copyright © Cambridge University Press 2016 In this paper, we study the problem of adaptive position tracking for a multi-link robot driven by two opposing pneumatic muscle groups with additive disturbances. In contrast to widely used sliding mode control methods, the proposed controller is continuo...
Saved in:
Main Authors: | , |
---|---|
Format: | Journal |
Published: |
2017
|
Online Access: | https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84992365934&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/41422 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Institution: | Chiang Mai University |
id |
th-cmuir.6653943832-41422 |
---|---|
record_format |
dspace |
spelling |
th-cmuir.6653943832-414222017-09-28T04:21:12Z Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances Karnjanaparichat T. Pongvuthithum R. Copyright © Cambridge University Press 2016 In this paper, we study the problem of adaptive position tracking for a multi-link robot driven by two opposing pneumatic muscle groups with additive disturbances. In contrast to widely used sliding mode control methods, the proposed controller is continuous and able to prevent chattering. All physical parameters of the robot and the pneumatic muscles, including pneumatic muscle coefficients, link lengths and moments of inertia are unknown and can be time-varying and the unknown additive disturbances can be discontinuous. Under these conditions, we prove that closed-loop trajectories of all of the joint positions can track any C 1 joint reference signal. The joint errors will be within a prescribed error bound in a finite time. The adaptive controller only uses the reference signal, not its derivative. The continuous adaptive gain is one-dimensional. Simulations including a two-link robot arm with friction and realistic muscle models are presented to demonstrate the robustness of the adaptive control under severe changes of the system parameters. In all simulations, the joint positions can track C 1 trajectories and all errors are within the prescribed error bound in the same time frame, even though the muscle parameters are vastly different. 2017-09-28T04:21:12Z 2017-09-28T04:21:12Z 2016-10-26 Journal 02635747 2-s2.0-84992365934 10.1017/S0263574716000758 https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84992365934&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/41422 |
institution |
Chiang Mai University |
building |
Chiang Mai University Library |
country |
Thailand |
collection |
CMU Intellectual Repository |
description |
Copyright © Cambridge University Press 2016 In this paper, we study the problem of adaptive position tracking for a multi-link robot driven by two opposing pneumatic muscle groups with additive disturbances. In contrast to widely used sliding mode control methods, the proposed controller is continuous and able to prevent chattering. All physical parameters of the robot and the pneumatic muscles, including pneumatic muscle coefficients, link lengths and moments of inertia are unknown and can be time-varying and the unknown additive disturbances can be discontinuous. Under these conditions, we prove that closed-loop trajectories of all of the joint positions can track any C 1 joint reference signal. The joint errors will be within a prescribed error bound in a finite time. The adaptive controller only uses the reference signal, not its derivative. The continuous adaptive gain is one-dimensional. Simulations including a two-link robot arm with friction and realistic muscle models are presented to demonstrate the robustness of the adaptive control under severe changes of the system parameters. In all simulations, the joint positions can track C 1 trajectories and all errors are within the prescribed error bound in the same time frame, even though the muscle parameters are vastly different. |
format |
Journal |
author |
Karnjanaparichat T. Pongvuthithum R. |
spellingShingle |
Karnjanaparichat T. Pongvuthithum R. Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances |
author_facet |
Karnjanaparichat T. Pongvuthithum R. |
author_sort |
Karnjanaparichat T. |
title |
Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances |
title_short |
Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances |
title_full |
Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances |
title_fullStr |
Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances |
title_full_unstemmed |
Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances |
title_sort |
adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances |
publishDate |
2017 |
url |
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84992365934&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/41422 |
_version_ |
1681421999099871232 |