Flexible Robot Arm Control Using Adaptive Control ‎Structure

Journal of Applied Dynamic Systems and Control

دوره 5، شماره 1، شهریور 2022، صفحه 5-10   

نوع مقاله: Original Article

نویسندگان

Hadi Hasanpour¹؛ Esmaeil Alibeiki^{* 2}؛ Seyyed Mostafa Ghadami³

¹Department of Electrical Engineering, Aliabad Katoul Branch, Islamic Azad University, Aliabad Katoul, Iran

²Department of Electrical Engineering, Shahrood Branch, Islamic ‎Azad University, Shahrood, Iran‎

³Department of Electrical Engineering, Aliabad Katoul Branch, Islamic Azad University, Aliabad Katoul ,Iran

چکیده

today, the use of different types of industrial robots is developing due to the growth of technology and the expansion of research in design and control. Industrial robots are a fundamental component of most modern automation systems. In this paper, we study the dynamic modeling and adaptive control of flexible joint robots (FJR). In this regard, the dynamic model of the robot will be extracted in state space using the Lagrange-Euler method. A new adaptive backstepping control approach is introduced to control FJR motions and improve the adaption and robustness of the nonlinear system. By using this method, variations of the model parameters will not affect the robust performance of the proposed controller. To evaluate the proposed method, MATLAB software is used to simulate a 2-joints FJR model with an adaptive backstepping controller. Based on results the proposed method controls the model property without overshoot, by considering the saturation limit of input control.

کلیدواژه‌ها

Flexible robot؛ Nonlinear model؛ adaptive controller

مراجع

[1] J. Baek, M. Jin, and S. Han, " A New Adaptive Sliding Mode Control Scheme for Application to Robot Manipulators, " IEEE Trans. Ind. Electron., vol. 63, no. 6, pp. 3628-3637, 2016.

[2] M. Jin, J. Lee and N G. Tsagarakis, " Model-Free Robust Adaptive Control Of Humanoid Robot With Flexible Joints, " IEEE Transaction On Industrial Electronics, vol. 64, no.2, pp. 1706-1715, 2017.

[3] M. Jun Kim And W. Kyun Chang, " Disturbance-Observer-Based PD Control of Flexible Joint Robots for Asymptotic Convergence, "IEEE Transactions on Robotics, vol. 31, no. 6, pp. 1508-1516, 201

[4] Datouo, R., Mvogo Ahanda, J., Melingui, A., Biya-Motto, F., & Essimbi Zobo, B. Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots. Robotica, 39(6), 1081-1100, 2021.

[5] Li, J., Ma, K. & Wu, Z. Prescribed Performance Control for Uncertain Flexible-joint Robotic Manipulators Driven by DC Motors. Int. J. Control Autom. Syst. 19, 1640–1650, 2021.

 [6] E. Ruiz, A. Rio, V. Santibanez, and F. Reyes, " Global Trajectory Tracking Through Static Feedback For Robot Manipulators With Input Saturation, " IEEE Int. Conf. on Decision and Control. Mexico, pp. 3516-3522, 2008.

[7] K. Khorasani, " Adaptive Control Of  Flexible Joint Robots,"  Proc. IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, vol. 8, no. 2,  pp. 250-267, 1991.

[8] A. Laib, " Adaptive Out Put Regulation Of Robot Manipulators Under Actuator Constraints," IEEE Transaction On Robotics And Automation, vol. 16, no. 1, pp. 29-35, 2000.

[9] Zhang, F.; Yuan, Z. The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load. Sensors, 21, 1522, 2021.

[10] Kh. Shojaei, " Neural adaptive robust control of under actuated marine surface vehicles with input saturation, " Applied Ocean Research, vol. , no. , pp.267-278, 2015.

[11] M. Rahimi Bidgoli, A. Keymasi Khalaji, S. A. A. Moosavian, "Trajectory tracking control of a wheeled mobile robot by a non-model-based control algorithm using PD-action filtered errors", Modares Mechanical Engineering, Vol. 14, No. 12, pp. 171-178, 2014 (In Persian)