Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach

Ki-Young Song,Noriyasu Homma,Madan M Gupta

doi:10.1155/2011/726807

Ki-Young Song, Noriyasu Homma + Show 1 more

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https://doi.org/10.1155/2011/726807

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Abstract

Design of an adaptive controller for complex dynamic systems is a big challenge faced by the researchers. In this paper, we introduce a novel concept ofdynamic pole motion(DPM) for the design of an error-based adaptive controller (E-BAC). The purpose of this novel design approach is to make the system response reasonably fast with no overshoot, where the system may be time varying and nonlinear with only partially known dynamics. The E-BAC is implanted in a system as a nonlinear controller with two dominant dynamic parameters: the dynamic position feedback and the dynamic velocity feedback. For illustrating the strength of this new approach, in this paper we give an example of a flexible robot with nonlinear dynamics. In the design of this feedback adaptive controller, parameters of the controller are designed as a function of the system error. The position feedbackKp(e,t)and the velocity feedbackKv(e,t)are continuously varying and formulated as a function of the system errore(t). This approach for formulating the adaptive controller yields a very fast response with no overshoot.

Highlights

There has been an increasing interest in the design of feedback controllers: from the design of conventional approaches to the design of intelligent-based approaches
We introduce a new notion of controller called error-based adaptive controller (E-BAC) with a novel conception based upon dynamic pole motion (DPM) approach
We present a novel approach to the design of a controller for this nonlinear timevarying system by using the error-based adaptive controller (E-BAC) and dynamic pole motion (DPM)

Summary

Introduction

There has been an increasing interest in the design of feedback controllers: from the design of conventional approaches to the design of intelligent-based approaches. One such approach is on the design of adaptive controller for controlling a complex dynamic system containing nonlinearity like flexible joints. There has been a common practice to approximate a nonlinear system by a linear system in limited operating ranges and make use of the conventional controller design approaches. Various schemes of adaptive control have been proposed, and adaptive control for nonlinear systems with complex dynamics has received great attention. Inverse optimal controller [5,6,7] using the Lyapunov function has been considered as one of the most effective way for designing controllers for nonlinear systems

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