Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier

doi:10.1109/JAS.2020.1003459

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	Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier
	Mostafa Bagheri; Iasson Karafyllis; Peiman Naseradinmousavi; Miroslav Krstić
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2021
卷号	8 期号:1 页码:86-93
摘要	We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties. Robot manipulators are widely used in telemanipulation systems where they are subject to model and environmental uncertainties. Using conventional control algorithms on such systems can cause not only poor control performance, but also expensive computational costs and catastrophic instabilities. Therefore, system uncertainties need to be estimated through designing a computationally efficient adaptive control law. We focus on robot manipulators as an example of a highly nonlinear system. As a case study, a 2-DOF manipulator subject to four parametric uncertainties is investigated. First, the dynamic equations of the manipulator are derived, and the corresponding regressor matrix is constructed for the unknown parameters. For a general nonlinear system, a theorem is presented to guarantee the asymptotic stability of the system and the convergence of parameters’ estimations. Finally, simulation results are discussed for a two-link manipulator, and the performance of the proposed scheme is thoroughly evaluated.
关键词	Backstepping least-square identifier robot manipulators trigger-based adaptive control
DOI	10.1109/JAS.2020.1003459
引用统计	被引频次：15[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/43898
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Mostafa Bagheri,Iasson Karafyllis,Peiman Naseradinmousavi,et al. Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(1):86-93.
APA	Mostafa Bagheri,Iasson Karafyllis,Peiman Naseradinmousavi,&Miroslav Krstić.(2021).Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier.IEEE/CAA Journal of Automatica Sinica,8(1),86-93.
MLA	Mostafa Bagheri,et al."Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier".IEEE/CAA Journal of Automatica Sinica 8.1(2021):86-93.

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