Polynomial-Based Robust Adaptive Impedance Control of Electrically Driven Robots
Alireza Izadbakhsh, Saeed Khorashadizadeh
Abstract
SUMMARY This paper presents a robust adaptive impedance controller for electrically driven robots using polynomials of degree N as a universal approximator. According to the universal approximation theorem, polynomials of degree N can approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed and proved in this paper. The polynomial coefficients are estimated based on the adaptive law calculated in the stability analysis. A performance evaluation has been carried out to verify satisfactory performance of the controller. Simulation results on a two degree of freedom manipulator have been presented to guarantee its successful implementation.
Topics & Concepts
Control theory (sociology)PolynomialController (irrigation)Degree (music)Adaptive controlElectrical impedanceStability (learning theory)Kharitonov's theoremRobust controlRobotComputer scienceImpedance controlMathematicsControl (management)EngineeringControl systemArtificial intelligenceMathematical analysisMatrix polynomialPhysicsBiologyMachine learningAcousticsSquare-free polynomialAgronomyElectrical engineeringRobot Manipulation and LearningAdaptive Control of Nonlinear SystemsHydraulic and Pneumatic Systems