Free Model Control of Robot Manipulator End-Effector Tracking by an Equivalent System Using an Adaptive Kalman Filter

Resumen: This paper proposes a free-model task space control for a robot’s end-effector. The robot is considered a non-linear discrete time system, using the data driven control and model free control approach. An adaptive Kalman filter provides an equivalent system by means of the robotic Jacobian matrix, which only needs the input-output data to control the robot’s position. Besides, we design the adaptive gains for sliding mode controller, using a neuro-fuzzy network structure. In the simulation was tested the performance of the equivalent Jacobian matrix and, slidng mode controller with adaptive gains for tracking control. We also provided a Lyapunov analysis of the equivalent model to guarantee convergence based on the adaptive Kalman filter.

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Josue Gómez, America Morales & Chidentree Treesatayapun. Free Model Control of Robot Manipulator End-Effector Tracking by an Equivalent System Using an Adaptive Kalman Filter. Memorias del Congreso Nacional de Control Automático, pp. 809-814, 2019.

Palabras clave

Control de Sistemas Lineales, Redes neuronales, Robótica y Mecatrónica

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