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Robotic Systems

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Nonlinear Control of Engineering Systems

Part of the book series: Control Engineering ((CONTRENGIN))

Abstract

In this chapter, several different robotic applications are examined. Given that a myriad of industrial applications require robots to perform repetitious tasks (e.g., assembly, manipulation, inspection), the first robotic control application examined in this chapter the development of learning control methods that exploit the periodic nature of the robot dynamics to improve link position tracking performance. Some of the advantages of a learning-based controller over some other approaches include the ability to compensate for disturbances without high-frequency or high-gain feedback terms and the ability to compensate for time-varying disturbances that can include time-varying parametric effects. In the first section of this chapter, we illustrate how a saturated learning-based estimate can be used to achieve asymptotic tracking in the presence of periodic nonlinear disturbances. Since the learning-based controller estimate is generated from a Lyapunov-based stability analysis, we also illustrate how additional control terms can be integrated to compensate for nonperiodic components of the unknown dynamics Specifically, a hybrid adaptive/learning controller is designed for the robot manipulator dynamics. Experimental results are provided to illustrate that the link position tracking performance of a robot manipulator improves with each repetitive motion due to the mitigating action of the learning estimate.

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Authors and Affiliations

  1. Engineering Science and Technology Division, Oak Ridge National Laboratory, Oak Ridge, TN, 37831, USA

    Warren E. Dixon

  2. Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, 29634-0915, USA

    Aman Behal & Darren M. Dawson

  3. Advanced Technology Group, MKS Instruments, Methuen, MA, 01844, USA

    Siddharth P. Nagarkatti

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  1. Warren E. Dixon
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  2. Aman Behal
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  3. Darren M. Dawson
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  4. Siddharth P. Nagarkatti
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Dixon, W.E., Behal, A., Dawson, D.M., Nagarkatti, S.P. (2003). Robotic Systems. In: Nonlinear Control of Engineering Systems. Control Engineering. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4612-0031-4_4

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  • DOI: https://doi.org/10.1007/978-1-4612-0031-4_4

  • Publisher Name: Birkhäuser, Boston, MA

  • Print ISBN: 978-1-4612-6581-8

  • Online ISBN: 978-1-4612-0031-4

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