This paper proposes a model-free robust-adaptive controller for Euler-Lagrange systems with a quantitative performance analysis in terms of state-errors. The controller has only few parameters, and the procedure of finding the controller parameters is intuitive and easy to implement. The controller acts as an adaptive computed-torque controller and consists of two feedback loops: the inner loop evaluates the robot dynamics to linearize the system and the outer loop is a simple proportional derivative controller. Input-to-state stability is used to derive the control law and tune the controller parameters. Inverse-optimal control using the Hamilton-Jacobi-Isaacs equations is utilized to confirm the optimality of the controller. Robustness of the proposed controller is proved using the H ∞ optimality technique. The controller starts with zero system information and adapts itself to the real system dynamics. Finally, the proposed technique is validated on a three-degree-of-freedom and a seven-degree-of-freedom robot manipulator.


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    Title :

    Robust-adaptive controller design for robot manipulators using the H∞ approach


    Contributors:
    Hayat, R. (author) / Leibold, M. (author) / Buss, M. (author)

    Publication date :

    2019-05-17



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629 / 620



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