Abstract
This paper presents the control of a robotic system based on a data-driven model. The components of the robotic system are a redundant robot and a motion capture system, both considered as a class of nonlinear discrete Multi-Input and Multi-Output system. The strong tracking Kalman filter algorithm approximates the Jacobian matrix of an equivalent model for the robotic system considering only the input and output on-line data. Moreover, a type of proportional controller based on the estimated Jacobian matrix for the robot’s end-effector is designed. The Lyapunov stability analysis guarantees the convergence of the equivalent model and the control law. The estimation and control approach are validated with thorough experimental results.
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