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TECHNICAL BRIEFS

A Robustly Stable Multiestimation-Based Adaptive Control Scheme for Robotic Manipulators

[+] Author and Article Information
A. Ibeas

Instituto de Investigación y Desarrollo de Procesos, Dpto. de Ingeniería de Sistemas y Automática, Facultad de Ciencia y Tecnología, Universidad del País Vasco, Campus de Leioa, Apdo. 644, 48080 Bilbao, Spainiebibhea@ehu.es

M. de la Sen

Instituto de Investigación y Desarrollo de Procesos, Dpto. de Ingeniería de Sistemas y Automática, Facultad de Ciencia y Tecnología, Universidad del País Vasco, Campus de Leioa, Apdo. 644, 48080 Bilbao, Spain

J. Dyn. Sys., Meas., Control 128(2), 414-421 (Mar 29, 2005) (8 pages) doi:10.1115/1.2196418 History: Received March 25, 2004; Revised March 29, 2005

A multiestimation-based robust adaptive controller is designed for robotic manipulators. The control scheme is composed of a set of estimation algorithms running in parallel along with a supervisory index proposed with the aim of evaluating the identification performance of each one. Then, a higher-order level supervision algorithm decides in real time the estimator that will parametrize the adaptive controller at each time instant according to the values of the above supervisory indexes. There exists a minimum residence time between switches in such a way that the closed-loop system stability is guaranteed. It is verified through simulations that multiestimation-based schemes can improve the transient response of adaptive systems as well as the closed-loop behavior when a sudden change in the parameters or in the reference input occurs by appropriate switching between the various estimation schemes running in parallel. The closed-loop system is proved to be robustly stable under the influence of uncertainties due to a poor modeling of the robotic manipulator. Finally, the usefulness of the proposed scheme is highlighted by some simulation examples.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

Multiestimation scheme architecture

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Figure 2

2R planar manipulator used for computer simulations

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Figure 3

Single estimation output

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Figure 4

Multiestimation scheme output

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Figure 5

Performance index for both schemes

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Figure 6

Multiestimation scheme switching map

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