A new revised desired compensation adaptive control for enhanced tracking: application to RA-PKMs
| 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) |
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Adaptive control business.industry Feed forward Control engineering 02 engineering and technology Kinematics Nonlinear control 01 natural sciences Computer Science Applications Compensation (engineering) Term (time) [SPI.AUTO]Engineering Sciences [physics]/Automatic Human-Computer Interaction Tracking error 020901 industrial engineering & automation Hardware and Architecture Control and Systems Engineering Control theory 0103 physical sciences business 010301 acoustics Software |
| Zdroj: | Advanced Robotics Advanced Robotics, Taylor & Francis, 2016, 30 (17-18), pp.1199-1214. ⟨10.1080/01691864.2016.1204248⟩ |
| ISSN: | 0169-1864 1568-5535 |
| DOI: | 10.1080/01691864.2016.1204248⟩ |
| Popis: | International audience; A new controller based on desired compensation adaptation law (DCAL) is proposed in this paper. The original DCAL control input can be split up into three main separate terms; an adaptive feedforward term, a proportional-derivative (PD) feedback term and a compensation term. Inspired from the fact that nonlinear time-varying feedback gains lead to improved performance, we propose in this work to revisit DCAL control scheme by replacing the constant feedback gains in the PD feedback term by nonlinear time-varying ones. The proposed nonlinear gains are automatically adjusted according to the variation of the tracking error yielding improved tracking performance. Besides, to cope with the internal forces issue that appears in the case of redundantly actuated parallel kinematic manipulators (RA-PKMs), we propose to use a projection operator to reduce these forces. The projection operator, which is based on the kinematics of the manipulator, reduces the part of the control inputs responsible for internal forces. To demonstrate the relevance of the proposed control strategy, both standard DCAL and the proposed extended DCAL controller are experimentally implemented on a three degree of freedom (3-DOF) RA-PKM called Dual-V. Based on the obtained results, it is shown that the proposed controller outperforms the original one in terms of tracking performance while reducing the control effort. |
| Databáze: | OpenAIRE |
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