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Adaptive control for manipulators with model uncertainty and input disturbance

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Abstract

This article proposes a simple method to design a linear adaptive controller for output tracking of uncertain robotic manipulators with input disturbance, in which their original mathematical models are not used. All model uncertainties and matched disturbance affecting to the robot behavior will be firstly summarized as the total matched disturbance belonging to a double integral system. Then, by using a proposed linear disturbance estimator, this lumped disturbance will be estimated and eliminated from the double integrator system. It means that based on this disturbance elimination, all robot manipulators would be consistently converted to a double integral system with bounded input disturbance. After all, the required output tracking controller will be designed for the input-disturbed double integrator system. The effectiveness of the proposed method is theoretically authenticated and confirmed by illustration examples. Moreover, the proposed controller is also compared to an existing adaptive controller for the planar robot through numerical simulations.

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Acknowledgements

This work was supported by the Ministry of Education and Training of Vietnam (MOET, VN) under the Grant B2021-BKA-10.

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Authors and Affiliations

  1. Department of Automation Engineering, School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hai Ba Trung, Hanoi, 11615, Vietnam

    Phuoc D. Nguyen, Nam H. Nguyen & Ha T. Nguyen

Authors
  1. Phuoc D. Nguyen
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  2. Nam H. Nguyen
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  3. Ha T. Nguyen
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Contributions

Conceptualization: Phuoc D. Nguyen, Ha T. Nguyen; Methodology: Phuoc D. Nguyen, Nam H. Nguyen; Formal analysis and investigation: Ha T. Nguyen, Nam H. Nguyen; Writing - original draft preparation: Phuoc D. Nguyen, Nam H. Nguyen; Writing - review and editing: Nam H. Nguyen, Ha T. Nguyen; Funding acquisition: Ha T. Nguyen; Supervision: Phuoc D. Nguyen.

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Correspondence to Ha T. Nguyen.

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Nguyen, P.D., Nguyen, N.H. & Nguyen, H.T. Adaptive control for manipulators with model uncertainty and input disturbance. Int. J. Dynam. Control 11, 2285–2294 (2023). https://doi.org/10.1007/s40435-023-01115-7

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  • DOI: https://doi.org/10.1007/s40435-023-01115-7

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