An adaptive method approach in designing a linear filter based output feedback controller for robot manipulators

Abstract

This study addresses the tracking problem for robot arms with parametric uncertainties in the model, position measurements available, and no velocity measurements. A filtering technique based on position information is used to compensate for the unmeasured velocity information. A linear filter-based controller is designed to eliminate the controller's dependence on velocity measurements by utilizing adaptive neural networks for model uncertainties. The stability of the closed-loop system is guaranteed by the Lyapunov method. To demonstrate the performance of the proposed controller, numerical simulation results are generated using a two-degree-of-freedom robot arm model and compared comparatively with adaptive fuzzy logic method.

Keywords

• Output feedback control
• Filter based control
• Adaptive neural networks
• Adaptive fuzzy logic
• Lyapunov methods
• Robot manipulators.

Robot kolları için doğrusal süzgeç tabanlı çıkış geri beslemeli kontrolör tasarımında uyarlamalı yöntem yaklaşımı

Öz

Bu çalışmada modeli belirsizlikler içeren, pozisyon ölçümleri mevcut olup, hız ölçümleri olmayan robot kolları için takip problemi ele alınmıştır. Ölçül(e)meyen hız bilgisinin telafi edilebilmesi için pozisyon bilgisi tabanlı olarak süzgeçleme tekniği yaklaşımdan yararlanılmaktadır. Model belirsizlikleri için uyarlamalı sinir ağlarından yararlanılarak kontrolörün hız ölçümlerine olan bağımlılığını ortadan kaldırmak için doğrusal süzgeç tabanlı bir kontrolör tasarlanmıştır. Kapalı çevrim sistemin kararlılığı Lyapunov yöntemiyle garanti edilmiştir. Sunulan kontrolörün performansını göstermek için iki serbestlik dereceli robot kolu modeli kullanılarak sayısal benzetim sonuçları uyarlamalı bulanık mantık yöntemi ile karşılaştırmalı olarak oluşturulmuştur.

Anahtar Kelimeler

• Çıkış geri beslemeli kontrol
• Süzgeç tabanlı kontrol
• Uyarlamalı sinir ağları
• Uyarlamalı bulanık mantık
• Lyapunov yöntemleri
• Robot kollar

Kaynakça

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