A New Recursive Composite Adaptive Controller for Robot Manipulators

Jianfei Li,Xin Jing,Chengwei Hu,Yaobing Wang,Zhiyong Liu

doi:10.34133/2021/9801421

Abstract

In this paper, a new recursive implementation of composite adaptive control for robot manipulators is proposed. We investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form, which, to our knowledge, is the first result on this point in the literature. The proposed algorithm has an amount of computation O n , which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree manipulators. The manipulator of the Chinese Space Station is employed as a simulation example, and the results verify the effectiveness of this proposed recursive algorithm.

Highlights

A New Recursive Composite Adaptive Controller for Robot ManipulatorsA new recursive implementation of composite adaptive control for robot manipulators is proposed
In the process of the construction and routine maintenance of the Chinese Space Station, the manipulator of the Chinese Space Station plays a significantly important role that can accomplish some key tasks, such as transposition docking, daily maintenance, and auxiliary extravehicular activities [1, 2]
The high accuracy and dynamic performance of the manipulator are the necessary conditions for the successful completion of these tasks, which can often be maintained by controls that are designed based on the dynamics model

Summary

A New Recursive Composite Adaptive Controller for Robot Manipulators

A new recursive implementation of composite adaptive control for robot manipulators is proposed. We investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form, which, to our knowledge, is the first result on this point in the literature. The proposed algorithm has an amount of computation OðnÞ, which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree manipulators. The manipulator of the Chinese Space Station is employed as a simulation example, and the results verify the effectiveness of this proposed recursive algorithm

Introduction

Preliminaries

Recursive Composite Adaptive Control

Simulation Result

Discussion