Enhanced Decentralized Robust Adaptive Control of Robots With Arbitrarily-Switched Unknown Constraints

Jasim, Ibrahim; Plapper, Peter

doi:10.1109/SMC.2014.6974561

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Enhanced Decentralized Robust Adaptive Control of Robots With Arbitrarily-Switched Unknown Constraints

Jasim, Ibrahim; Plapper, Peter

2014 • In 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC2014)

Peer reviewed

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https://hdl.handle.net/10993/19063

DOI
10.1109/SMC.2014.6974561

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Keywords :

Decentralized control; switched systems; robust adaptive control; sliding mode control; switched constrained robots

Abstract :

[en] In this article, we propose an Enhanced Decentralized Robust Adaptive Control (EDRAC) strategy that guarantees global stable performance for robots under arbitrarily-switched and unknown constraints. The EDRAC strategy is a synergy of the concepts of the decentralized control, finding a Common Lyapunov Function (CLF), and the Sliding Mode Control (SMC). The decentralization in the control action is realized through decomposing the joints dynamics into two parts; a function of the specific joint variables and another one in term of the all joints variables. The first term is assumed to be known and the latter is compensated through adapting its upper bound in the control loop hence relaxing the need for knowing part of the robot dynamics and simplifying the control strategy. The CLF guarantees global stable performance under arbitrary constraints switching, and the SMC makes the EDRAC strategy robust against possible parameters drift. Simulation is performed for a two link robot interacting with two switching constraints and the efficiency of the EDRAC strategy is shown.

Disciplines :

Electrical & electronics engineering

Author, co-author :

Jasim, Ibrahim ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit

Plapper, Peter ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit

External co-authors :

Language :

English

Title :

Enhanced Decentralized Robust Adaptive Control of Robots With Arbitrarily-Switched Unknown Constraints

Publication date :

05 October 2014

Event name :

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC2014)

Event organizer :

IEEE

Event place :

San Diego, United States - California

Event date :

5-10-2014 to 8-10-2014

Audience :

International

Main work title :

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC2014)

Pages :

4027-4032

Peer reviewed :

Peer reviewed

FnR Project :

FNR2955286 - Self-adaptive Fuzzy Control For Robotic Peg-in-hole Assembly Process, 2011 (01/05/2012-30/04/2016) - Ibrahim Fahad Jasim Ghalyan

Name of the research project :

R-AGR-0071 - IRP13 - PROBE (20130101-20151231) - PLAPPER Peter

Funders :

FNR - Fonds National de la Recherche [LU]

Available on ORBilu :

since 11 December 2014

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