A novel RISE-based adaptive feedforward controller for redundantly actuated parallel manipulators
| Autor: | Ahmed Chemori, Moussab Bennehar, François Pierrot |
|---|---|
| Přispěvatelé: | Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), ANR-11-BS03-0006,ARROW,Robots Rapides et Précis avec un large Espace de Travail Opérationnel(2011) |
| Rok vydání: | 2014 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Motion Control Parallel manipulator Feed forward Control engineering 02 engineering and technology Energy consumption Kinematics Motion control [SPI.AUTO]Engineering Sciences [physics]/Automatic law.invention Term (time) Parallel Robots 020901 industrial engineering & automation Projector Control theory law [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing business Motion Planning for Manipulators |
| Zdroj: | IROS IEEE/RSJ International Conference on Intelligent Robots and Systems IROS: Intelligent RObots and Systems IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.2389-2394, ⟨10.1109/IROS.2014.6942886⟩ |
| DOI: | 10.1109/iros.2014.6942886 |
| Popis: | International audience; A novel adaptive controller based on the Robust Integral of the Sign of the Error (RISE) is proposed. The RISE feedback strategy yields semi-global asymptotic tracking despite the presence of unstructured additive disturbances provided some limited assumptions on the system. To achieve better tracking performance, the RISE controller is extended with a model-based adaptive feedforward term. The addition of the feedforward term compensates for the structured uncertainties yielding reduced tracking errors and reduced control effort. The proposed controller is experimentally implemented on a 3-DOFs redundantly actuated parallel manipulator. The computed con- trol inputs are projected using a kinematics based projector in order to remove the internal efforts that may damage the mechanical structure of the manipulator. Experimental results show a better performance of the proposed adaptive controller compared to the basic RISE controller in terms of tracking accuracy and energy consumption. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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