An Extremum-Seeking Control Approach For Constrained Robotic Motion Tasks

Keywords

Extremum seeking; Model reference adaptive control; Robot control; State tracking

Abstract

In this paper, we propose two adaptive control schemes for multiple-input systems for execution of robot end-effector movements in the presence of parametric system uncertainties. The design of these schemes is based on Model Reference Adaptive Control (MRAC) while the adaptation of the controller parameters is achieved by Extremum Seeking Control (ESC). The two control schemes, which are called Multiple-Input ESC-MRAC and Multiple-Input Adaptive-Dynamic-Inversion ESC-MRAC, are suitable for linear and nonlinear systems respectively. Lyapunov and averaging analysis shows that the proposed schemes achieve practical asymptotic reference state tracking. The proposed methods are evaluated in simulations and in a real-world robotic experiment.

Publication Date

7-1-2016

Publication Title

Control Engineering Practice

Volume

52

Number of Pages

1-14

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1016/j.conengprac.2016.04.004

Socpus ID

84963660249 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84963660249

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