Fractional-Order Composite Adaptive Control of Robot Manipulators

https://doi.org/10.58571/CNCA.AMCA.2023.103

Resumen: The branch of system identification and control theory concerned about robot manipulators is adaptive control of non-linear multi-input multi-output dynamic systems which study constitutes a mature and well-founded discipline; nevertheless, there are fundamental problems open to date, one of them is to obtain a control law that is rich enough to guarantee its persistent excitation and consequently that the parametric error converges asymptotically to zero, while the tracking error converges globally asymptotically to zero. An extension of a globally convergent adaptive scheme control for a robot manipulator in the tracking of a determined trajectories with no consideration of the interaction with its environment is proposed, based on the fact that the parameter uncertainty is involved in both the tracking error and the identification error. The first control task is achieved by a feedback linearization technique that takes advantage of the structure of manipulator dynamics. The second task is achieved by a fractional order filtering technique to avoid the joint acceleration and enrich the regressor matrix in such way that is persistently exciting. Finally, the control law is expressed as feedforward compensation and a simple PD controller.

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Gamez, Daniel; Sifuentes, Juan; Santibanez, Victor; Llama, Miguel A. Fractional-Order Composite Adaptive Control of Robot Manipulators. Memorias del Congreso Nacional de Control Automático, pp. 556-561, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.103

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