An Adaptive Time-Varying Impedance Controller for Manipulators

doi:10.3389/fnbot.2022.789842

	An Adaptive Time-Varying Impedance Controller for Manipulators
	Liang, Xu1,2 ; Su, Tingting1 ; Zhang, Zhonghai 3; Zhang, Jie 1; Liu, Shengda2 ; Zhao, Quanliang 1; Yuan, Junjie 1; Huang, Can 1; Zhao, Lei 1; He, Guangping 1
发表期刊	FRONTIERS IN NEUROROBOTICS
ISSN	1662-5218
	2022-03-18
卷号	16 页码:10
通讯作者	He, Guangping(hegp55@ncut.edu.cn)
摘要	Aiming at the situation that the structural parameters of the general manipulators are uncertain, a time-varying impedance controller based on model reference adaptive control (MRAC) is proposed in this article. The proposed controller does not need to use acceleration-based feedback or to measure external loads and can tolerate considerable structure parameter errors. The global uniform asymptotic stability of the time-varying closed-loop system is analyzed, and a selection approach for control parameters is presented. It is demonstrated that, by using the proposed control parameter selection approach, the closed-loop system under the adaptive controller is equivalent to an existing result. The feasibility of the presented controller for the general manipulators is demonstrated by some numerical simulations.
关键词	adaptive intelligent control time-varying human-robot interaction MRAC
DOI	10.3389/fnbot.2022.789842
关键词[WOS]	TRACKING CONTROL ; SYSTEMS
收录类别	SCI
语种	英语
资助项目	National Key R&D Program of China[2019YFB1309603] ; National Key R&D Program of China[2020AAA0105801] ; Natural Science Foundation of Beijing[L202020] ; Natural Science Foundation of Beijing[4204097] ; Natural Science Foundation of China[62003005] ; Natural Science Foundation of China[62103007] ; Natural Science Foundation of China[51775002] ; Beijing Municipal Education Commission[KM202110009009] ; Beijing Municipal Education Commission[KZ202010009015] ; China Postdoctoral Science Foundation[2021M693404] ; Fundamental Research Funds for Beijing Municipal Universities ; Yuyou Talent Support Project of North China University of Technology ; open research fund of the State Key Laboratory for Management and Control of Complex Systems[20210103]
项目资助者	National Key R&D Program of China ; Natural Science Foundation of Beijing ; Natural Science Foundation of China ; Beijing Municipal Education Commission ; China Postdoctoral Science Foundation ; Fundamental Research Funds for Beijing Municipal Universities ; Yuyou Talent Support Project of North China University of Technology ; open research fund of the State Key Laboratory for Management and Control of Complex Systems
WOS研究方向	Computer Science ; Robotics ; Neurosciences & Neurology
WOS类目	Computer Science, Artificial Intelligence ; Robotics ; Neurosciences
WOS记录号	WOS:000779373200001
出版者	FRONTIERS MEDIA SA
七大方向——子方向分类	智能控制
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/48342
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	He, Guangping
作者单位	1.North China Univ Technol, Dept Mech & Elect Engn, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automation, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 3.Beijing Aerosp Measurement & Control Technol Co L, Beijing, Peoples R China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Liang, Xu,Su, Tingting,Zhang, Zhonghai,et al. An Adaptive Time-Varying Impedance Controller for Manipulators[J]. FRONTIERS IN NEUROROBOTICS,2022,16:10.
APA	Liang, Xu.,Su, Tingting.,Zhang, Zhonghai.,Zhang, Jie.,Liu, Shengda.,...&He, Guangping.(2022).An Adaptive Time-Varying Impedance Controller for Manipulators.FRONTIERS IN NEUROROBOTICS,16,10.
MLA	Liang, Xu,et al."An Adaptive Time-Varying Impedance Controller for Manipulators".FRONTIERS IN NEUROROBOTICS 16(2022):10.