Abstract
In this paper, the author presents the adaptive control design and stability analysis of robotic manipulators based on two main approaches, i.e., Lyapunov stability theory and hyperstability theory. For the Lyapunov approach, the author presents the adaptive control of a 2-DOF (degrees of freedom) robotic manipulator. Furthermore, the adaptive control technique and Lyapunov theory are subsequently applied to the end-effector motion control and force control, as in most cases, one only considers the motion control (e.g., position control, trajectory tracking). To make the robot interact with humans or the environment, force control must be considered as well to achieve a safe working environment. For the hyperstability approach, a control system is developed through integrating a PID (proportional–integral–derivative) control system and a model reference adaptive control (MRAC) system, and also the convergent behavior and characteristics under the situation of the PID system, model reference adaptive control system, and PID+MRAC control system are compared.
Highlights
Robotic mechanisms have been maturely employed in manufacturing industries [1,2,3,4]
The above stability analysis is based on the Lyapunov theory
Another approach in the stability analysis of adaptive control is based on the hyper-stability theory
Summary
Robotic mechanisms have been maturely employed in manufacturing industries [1,2,3,4]. The MRAC control system that was developed by Horowitz, and subsequently extended evolutions developed by other scholars [23], consists of an adaptation mechanism structure and a position feedback loop structure that is able to detect the error among the joint’s ideal position and the joint’s real position This error is served through the integral section of a PID-like control system, followed by the procedure that the position and velocity feedback values are being deducted from it.
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