A Novel Adaptive Control Algorithm in Application to a Humanoid Robot Arm

  • Muhammad Nasiruddin Mahyuddin
  • Guido Herrmann
  • Said Ghani Khan
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)

Abstract

A novel adaptive control algorithm was proposed and implemented in real-time on 2 degrees-of-freedom (DOF) of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) arm in joint-space. The algorithm features a sliding-mode term based adaptive law that captures directly the parameter estimation error. An auxiliary filtered regression vector and filtered computed torque is introduced. This allows the definition of another auxiliary matrix, a filtered regression matrix, which facilitates the introduction of the sliding term into the adaptation law. Parameter error convergence to zero can be guaranteed within finite-time with a Persistent-Excitation (PE) or Sufficient Richness condition for the demand. This theoretical result is then exemplified for the BERT II robot arm in simulation and experiment.

Keywords

Adaptive control Robotic Arm Parameter Estimation 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Spong, M.W., Vidyasagar, M.: Robot Dynamics and Control. Wiley (1989)Google Scholar
  2. 2.
    Slotine, J.J., Li, W.: Composite adaptive control of robot manipulators. Automatica 25, 509–519 (1989)MathSciNetMATHCrossRefGoogle Scholar
  3. 3.
    Slotine, J.J.: Adaptive manipulator control: A case study. IEEE Transactions on Automatic Control 33(11), 995–1003 (1988)MATHCrossRefGoogle Scholar
  4. 4.
    Horowitz, R., Tomizuka, M.: An adaptive control scheme for mechanical manipulators-compensation of nonlinearity and decoupling control. In: ASME Winter Annual Meeting (1980)Google Scholar
  5. 5.
    Hsia, T.C.: Adaptive control of robotic manipulators-a review. In: IEEE Int. Conf. on Robot and Automation (1986)Google Scholar
  6. 6.
    Lim, K., Eslami, M.: Robust adaptive controller design for robot manipulators systems. IEEE Journal of Robotics and Automation 3, 54–66 (1987)CrossRefGoogle Scholar
  7. 7.
    Lee, C.S., Chung, M.J.: An adaptive trajectory control of manipulators. IEEE Transaction of Automatic Control AC-29, 837–840 (1984)CrossRefGoogle Scholar
  8. 8.
    Koivo, A., Guo, T.: Adaptive linear controller for robotic manipulators. IEEE Transaction of Automatic Control AC-28, 162–171 (1983)CrossRefGoogle Scholar
  9. 9.
    Vukobratovic, M., Kircanski, N.: An approach to adaptive control of robotic manipulators. Automatica 21, 639–647 (1985)MATHCrossRefGoogle Scholar
  10. 10.
    Ortega, R., Spong, M.W.: Adaptive motion control of rigid robots: a tutorial. Automatica 25, 877–888 (1989)MathSciNetMATHCrossRefGoogle Scholar
  11. 11.
    Slotine, J.J., Li, W.: Adaptive robot control. a case study. In: IEEE Int. Conf. on Robotics and Automation, Raleigh, North Carolina (1987)Google Scholar
  12. 12.
    Slotine, J.J., Li, W.: Adaptive strategies in constrained manipulation. In: IEEE Int. Conf. on Robotics and Automation, Raleigh, North Carolina (1987)Google Scholar
  13. 13.
    Craig, J., Hsu, P., Sastry, S.: Adaptive control of mechanical manipulators. In: IEEE Conference on Robot and Automation, San Francisco, California (1986)Google Scholar
  14. 14.
    Li, W., Slotine, J.J.: An indirect adaptive robot controller. Systems & Control Letters 12, 259–266 (1989)MathSciNetMATHCrossRefGoogle Scholar
  15. 15.
    Hsu, P., Sastry, S., Bodson, M., Paden, B.: Adaptive identification and control of manipulators without joint acceleration measurements. In: IEEE Int. Conf. on Robotics and Automation (1987)Google Scholar
  16. 16.
    Lewis, F.L., Munro, N.: Manipulator Control Theory and Practice, 2nd edn. Marcel Dekker (2004)Google Scholar
  17. 17.
    Khan, S.: Adaptive and reinforcement learning control methods for active compliance control of a humanoid robot arm. PhD thesis, University of the West of England (2012)Google Scholar
  18. 18.
    Na, J., Herrmann, G., Mahyuddin, M.N., Ren, X., Barber, P.: Robust adaptive finite-time parameter estimation and control of nonlinear systems. In: IEEE Multi-Conference on System and Control (2011)Google Scholar
  19. 19.
    Adetola, V., Guay, M.: Finite-time Parameter Estimation in Adaptive Control of Nonlinear Systems, New York, pp. 1920–1924 (2007)Google Scholar
  20. 20.
    Reed, J., Ioannou, P.: Instability analysis and robust adaptive control of robotic manipulators. IEEE Transaction of Robotics and Automation RA-3, 381–386 (1989)CrossRefGoogle Scholar
  21. 21.
    Sastry, S., Bodson, M.: Adaptive control: Stability, Convergence and Robustness. Dover Publications (1989)Google Scholar
  22. 22.
    Feng, G.: A new adaptive control algorithm for robot manipulators in task space. IEEE Transactions on Robotics and Automation 11(3), 457–462 (1995)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Muhammad Nasiruddin Mahyuddin
    • 1
  • Guido Herrmann
    • 1
  • Said Ghani Khan
    • 1
  1. 1.Bristol Robotic Laboratory and Department of Mechanical EngineeringUniversity of BristolBristolUK

Personalised recommendations