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research-article

Robust adaptive control of antagonistic tendon-driven joint in the presence of parameter uncertainties and external disturbances

[+] Author and Article Information
Hongqian Lu

Center for Control Theory and Guidance Technology School of Astronautics Harbin Institute of Technology Harbin, Hei Longjiang 150001
luhongqian@163.com

Xu Zhang

Center for Control Theory and Guidance Technology School of Astronautics Harbin Institute of Technology Harbin, Hei Longjiang 150001
alonsobobo@gmail.com

Xianlin Huang

Center for Control Theory and Guidance Technology School of Astronautics Harbin Institute of Technology Harbin, Hei Longjiang 150001
xlinhuang163@163.com

1Corresponding author.

ASME doi:10.1115/1.4036364 History: Received August 26, 2016; Revised February 16, 2017

Abstract

The design of nonlinear tracking controller for antagonistic tendon-driven joint has garnered considerable attention, whereas many existing control methodologies are impractical in the real-time applications due to complexity of computations. In this work, a robust adaptive control method for controlling antagonistic tendon-driven joint is mainly studied by combining adaptive control with mapping filtered forwarding technique. To enhance the robustness of the closed-loop systems, the true viscous friction coefficients are not needed to be known in our controller design. Typically, to tackle the problem of “explosion of complexity”, filters are introduced to bridge the virtual controls such that the controller is decomposed into several sub-modules. Mappings and their analytic derivatives are computed by these filters, and the mathematical operations of nonlinearities are greatly simplified. The block diagram of this controller of tendon driven joint is provided, and controller performances are validated through simulations.

Copyright (c) 2017 by ASME
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