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An Adaptive Time-Varying Impedance Controller for Manipulators
Liang, Xu1,2; Su, Tingting1; Zhang, Zhonghai3; Zhang, Jie1; Liu, Shengda2; Zhao, Quanliang1; Yuan, Junjie1; Huang, Can1; Zhao, Lei1; He, Guangping1
Source PublicationFRONTIERS IN NEUROROBOTICS
ISSN1662-5218
2022-03-18
Volume16Pages:10
Corresponding AuthorHe, Guangping(hegp55@ncut.edu.cn)
AbstractAiming 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.
Keywordadaptive intelligent control time-varying human-robot interaction MRAC
DOI10.3389/fnbot.2022.789842
WOS KeywordTRACKING CONTROL ; SYSTEMS
Indexed BySCI
Language英语
Funding ProjectNational 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]
Funding OrganizationNational 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 Research AreaComputer Science ; Robotics ; Neurosciences & Neurology
WOS SubjectComputer Science, Artificial Intelligence ; Robotics ; Neurosciences
WOS IDWOS:000779373200001
PublisherFRONTIERS MEDIA SA
Sub direction classification智能控制
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/48342
Collection复杂系统认知与决策实验室_先进机器人
Corresponding AuthorHe, Guangping
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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