Abstract
Partitioned approximation control is avoided in most decentralized control algorithms; however, it is essential to design feedforward control with improved tracking accuracy. As a result, this work is focused on decentralized adaptive partitioned approximation control for complex robotic systems using the orthogonal basis functions as strong approximators. In essence, the partitioned approximation technique is intrinsically decentralized with some modifications. The proposed decentralized control law consists of three terms: the partitioned approximation-based feedforward term that is necessary for precise tracking, the high gain-based feedback term, and the adaptive sliding gain-based term for compensation of modeling error. The passivity property is essential to prove the stability of local stability of the individual subsystem with guaranteed global stability. A two-link robot is simulated to verify the effectiveness of the proposed technique.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Saha, S.K.: Recursive dynamics algorithms for serial, parallel and closed-chain multibody systems. In: Indo-US Workshop on Protein Kinematics and Protein Conformations, IISC, pp. 1–34, Bangalore (2007)
Fu, K.S., Gonzalez, R.C., Lee, C.S.G.: Robotics: Control, Sensing, Vision, and Intelligence. McGraw-Hill Book Company, New York (1987)
Spong, M.W., Vidyasagar, M.: Robot Dynamics and Control. Wiley, New York (1989)
Liu, M.: Decentralized control of robot manipulators: nonlinear and adaptive approaches. IEEE Trans. Autom. Control 44, 357–363 (1999)
Yang, Z.-J., Fukushima, Y., Qin, P.: Decentralized adaptive robust control of robot manipulators using disturbance observers. IEEE Trans. Control Syst. Technol. 20, 1357–1365 (2012)
Lewis, F.L., Yesildirek, A., Liu, K.: Neural net robot controller: structure and stability proofs. J. Intell. Robot. Syst. 13, 1–23 (1995)
Lewis, F.L., Yesildirek, A., Liu, K.: Multilayer neural net robot controller with guaranteed tracking performance. IEEE Trans. Neural Netw. 7, 1–12 (1996)
Al-Shuka, H.F.N.: On local approximation-based adaptive control with applications to robotic manipulators and biped robots. Int. J. Dyn. Control 6(1), 339–353 (2018)
Panagi, P., Polycarpou, M.: Decentralized adaptive approximation based control of a class of large-scale systems, In: American Control Conference, pp. 92–97. IEEE, Washington (2008)
Tan, K., Huang, S., Lee, T.H.: Decentralized adaptive controller design of large-scale uncertain robotic systems. Automatica 45, 161–166 (2009)
Fateh, M., Fateh, S.: Decentralized direct adaptive fuzzy control of robots using voltage control strategy. Nonlinear Dyn. 70, 1919–1930 (2012)
Mulero-Martínez, J.I.: Uniform bounds of the coriolis/centripetal matrix of serial robot manipulators. IEEE Trans. Robot. 23, 1083–1089 (2007)
Farrell, J., Polycarpou, M.: Adaptive Approximation Based Control: Unifying Neural, Fuzzy and Traditional Adaptive Approximation Approaches. Wiley, New York (2006)
Utkin, V.I., Poznyak, A.S.: Adaptive sliding mode control. In: Bandyopadhyay, B., Janardhanan, S., Spurgeon, S. (eds.) Advances in Sliding Mode Control. Lecture Notes in Control and Information Sciences, vol. 440, pp. 21–53. Springer, Heidelberg (2013)
Al-Shuka, H.F.N.: Dynamic modeling, walking pattern generators and adaptive control of biped robot. Ph.D. dissertation. RWTH Aachen University, Germany (2014)
Slotine, J.-J.E., Li, W.: Applied Nonlinear Control. Prentice-Hall Inc., New Jersey (1991)
Huang, A.-C., Chien, M.-C.: Adaptive Control of Robot Manipulators: A Unified Regressor Free Approach. World Scientific Publishing Co. Pte. Ltd., Singapore (2010)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
Al-Shuka, H.F.N., Song, R. (2019). Decentralized Adaptive Partitioned Approximation Control of Robotic Manipulators. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_3
Download citation
DOI: https://doi.org/10.1007/978-3-319-78963-7_3
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-78962-0
Online ISBN: 978-3-319-78963-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)