• Title, Summary, Keyword: Adaptive control

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Design of a Real Time Adaptive Controller for SCARA Robot Using Digitl Signal Process (디지탈 신호처리기를 사용한 스카라 로보트의 실시간 적응제어기 설계)

  • 김용태;서운학;한성현;이만형;김성권
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.472-477
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    • 1996
  • This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

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Development of Robust Adaptive Learning Control for Nonlinear System (비선형 시스템에 대한 강인성 적응 학습 제어기의 개발)

  • Yu, Yeong-Sun;Ha, Hwan-Su
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.25 no.12
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    • pp.1895-1902
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    • 2001
  • This paper gives an overview of the relationships between methods of loaming and adaptive control. It is the objective of this paper to develop adaptive learning control algorithms that combine the advantages of adaptive control with those of leaning control to the extent possible for the type of system model used. The robustness of this adaptive loaming control with respect to reinitialization errors and fluctuation of dynamics from disturbance is analyzed extensively. Simulation results have shown to verify the effectiveness of the proposed control algorithm.

A Robust Adaptive Control of Dual Arm Robot with Eight-Joints Based on DSPs (DSPs 기반 8축 듀얼암 로봇의 견실적응제어)

  • Han, Sung-Hyun
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.12
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    • pp.1220-1230
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    • 2006
  • In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

Adaptive Control based on a ParametricAffine Model for tail-control led Missiles (매개변수화 어파인 모델에 기반한 꼬리날개 제어유도탄의 적응제어)

  • 최진영;좌동경
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2-2
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    • 2000
  • This paper presents an adaptive control against uncertainties in tail-controlled STT (skid-to-Turn) missiles. First, we derive an analytic uncertainty model from a parametricaffine missile model developed by the authors. Based on this analytic model, an adaptive feedbacklinearizing control law accompanied by a sliding model control law is proposed. We provide analyses of stability and output tracking performance of the overall adaptive missile system. The performance and validity of the proposed adaptive control scheme is demonstrated by simulation.

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Nonlinear Adaptive Control based on Lyapunov Analysis: Overview and Survey (리아프노브 분석법 기반 비선형 적응제어 개요 및 연구동향 조사)

  • Park, Jin Bae;Lee, Jae Young
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.3
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    • pp.261-269
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    • 2014
  • This paper provides an overview of the basics and recent studies of Lyapunov-based nonlinear adaptive control, the aim of which is to improve or maintain the performance and stability of the closed-loop system by cancelling out the presumable uncertainties in the nonlinear system dynamics. The design principles are essentially based on Lyapunov's direct method. In this survey, we provide a comprehensive overview of Lyapunov-based nonlinear adaptive control techniques with simplified effective design examples, which are to be elaborated as related recent results are gradually shown. The scope of the survey contains research on singularity problems in adaptive control, the techniques to deal with linearly and nonlinearly parameterized uncertainties, robust neuro-adaptive control, and adaptive control methodologies combined with various nonlinear control techniques such as sliding-mode control, back-stepping, dynamic surface control, and optimal/$H_{\infty}$ control.

A Robust Adaptive Control of Robot Manipulator Based on TMS320C80

  • Han, Sung-Hyun;Jung, Dong-Yean;Shin, Heang-Bong
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2540-2545
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    • 2003
  • We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

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A Study on the Real Time Adaptive Controller for SCARA Robot Using TMS320C31 Chip (TMS320C31 칩을 사용한 스카라 로봇의 실시간 적응제어데 관한 연구)

  • 김용태
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • pp.79-84
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    • 1996
  • This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

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ADAPTIVE SLICING ODE CONTROL USING FUZZY LOGIC SYSTEM

  • Yoo, Byungkook;Jeoung, Sacheul;Ham, Woonchul
    • 제어로봇시스템학회:학술대회논문집
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    • pp.26-30
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    • 1995
  • In this study, the fuzzy approximator and sliding mode control (SMC) scheme are considered. An adaptive sliding mode control is proposed based on the SMC theory. This proposed control scheme is that a adaptive law is utilized to approximate the unknown function f by fuzzy logic system in designing the sliding mode controller for the nonlinear system. In order to reduce the approximation errors, the differences of nonlinear function and fuzzy approximator, an adaptive law is also intoduced and the stability of proposed control scheme are proven with simple adaptive law and roburst adaptive law. This proposed control scheme is applied to a single link robot arm.

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Design of a real Time Adaptive Controller for Industrial Robot Using Digital Signal Processor (디지털 신호처리기를 사용한 산업용 로봇의 실시간 적응제어기 설계)

  • 최근국
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • pp.154-161
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    • 1999
  • This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

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Design of a Adaptive Controller of Industrial Robot with Eight Joint Based on Digital Signal Processor

  • Han, Sung-Hyun;Jung, Dong-Yean;Kim, Hong-Rae
    • 제어로봇시스템학회:학술대회논문집
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    • pp.741-746
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    • 2004
  • We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

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