Adaptive Compliance Control of Flexible Link Manipulator in Unknown Environment

被引：0
|
作者：
Yannick, Cianyi [1 ]
Zhu, Xiaocong [1 ]
Cao, Jian [2 ]
机构：
[1] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China
[2] Hefei Univ Technol, Sch Mech Engn, Hefei 230009, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2022), PT III | 2022年 / 13457卷
基金：
中国国家自然科学基金;
关键词：
Collaborative robots; Flexible-link manipulators; Compliance control; Two-time scale; Force observers; IMPEDANCE CONTROL;
D O I：
10.1007/978-3-031-13835-5_70
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The present work proposes an Adaptive Compliant Control scheme based on a closed-form output-redefined and perturbed dynamic model of a Single-link Flexible Manipulator (SLFM) in Unknown Environment. The control scheme is composed of inner and outer controllers. The inner control is designed based on Two-Time Scale Adaptive Robust Control (TTARC) to ensure fast and precise motion control, while the outer control is based on the impedance dynamics aiming to offer a desired compliant behavior in constrained motion. External force is estimated based on the extended Kalman Filter (EKF). The stability of the closed-loop system is verified through Lyapunov theory. The effectiveness of the overall control scheme is verified through simulation.
引用
收藏
页码：779 / 790
页数：12
相关论文
共 50 条
  • [41] Adaptive PID actuator fault tolerant control of single-link flexible manipulator
    Abd Latip, Siti Fadilah
    Husain, Abdul Rashid
    Mohamed, Zaharuddin
    Basri, Mohd Ariffanan Mohd
    [J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2019, 41 (04) : 1019 - 1031
  • [42] A fuzzy multiple reference model adaptive control scheme for flexible link robotic manipulator
    Kamalasadan, S
    Ghandakly, AA
    Al-Olimat, KS
    [J]. 2004 IEEE INTERNATIONAL CONFERENCE ON COMPUTATIONAL INTELLIGENCE FOR MEASUREMENT SYSTEMS AND APPLICATIONS, 2004, : 162 - 167
  • [43] Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point
    Fayazi, Ali
    Pariz, Naser
    Karimpour, Ali
    Feliu-Batlle, V
    HosseinNia, S. Hassan
    [J]. ROBOTICA, 2020, 38 (09) : 1642 - 1664
  • [44] Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object
    Bolin Sun
    Min Cheng
    Ruqi Ding
    Bing Xu
    [J]. Frontiers of Mechanical Engineering, 2024, 19
  • [45] Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object
    Sun, Bolin
    Cheng, Min
    Ding, Ruqi
    Xu, Bing
    [J]. FRONTIERS OF MECHANICAL ENGINEERING, 2024, 19 (01)
  • [46] Adaptive Neural Control of a Rotating Flexible Manipulator
    Maouche, A. R.
    Attari, M.
    [J]. 2008 INTERNATIONAL SYMPOSIUM ON POWER ELECTRONICS, ELECTRICAL DRIVES, AUTOMATION AND MOTION, VOLS 1-3, 2008, : 511 - 516
  • [47] Adaptive backstepping control for a single-link flexible robot manipulator driven DC motor
    Zouari, Farouk
    Ben Saad, Kamel
    Benrejeb, Mohamed
    [J]. 2013 INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES (CODIT), 2013, : 864 - 871
  • [48] Improving the Performance of Adaptive PDPID Control of Two-Link Flexible Robotic Manipulator with ILC
    Mahamood, Rasheedat M.
    [J]. ENGINEERING LETTERS, 2012, 20 (03) : 259 - 270
  • [49] Modeling and nonlinear control of a flexible-link manipulator
    Shawky, Alaa
    Zydek, Dawid
    Elhalwagy, Yehia Z.
    Ordys, Andrzej
    [J]. APPLIED MATHEMATICAL MODELLING, 2013, 37 (23) : 9591 - 9602
  • [50] Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters
    Fabian Schnelle
    Peter Eberhard
    [J]. Acta Mechanica Sinica, 2017, 33 (03) : 529 - 542
12345