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An Adaptive Time-Varying Impedance Controller for Manipulators

文献类型：期刊论文

作者Liang, Xu2,3; Su, Tingting2; Zhang, Zhonghai1; Zhang, Jie2; Liu, Shengda3; Zhao, Quanliang2; Yuan, Junjie2; Huang, Can2; Zhao, Lei2; He, Guangping2
刊名FRONTIERS IN NEUROROBOTICS
出版日期2022-03-18
卷号16页码:10
ISSN号1662-5218
关键词adaptive intelligent control time-varying human-robot interaction MRAC
DOI10.3389/fnbot.2022.789842
通讯作者He, Guangping(hegp55@ncut.edu.cn)
英文摘要Aiming at the situation that the structural parameters of the general manipulators are uncertain, a time-varying impedance controller based on model reference adaptive control (MRAC) is proposed in this article. The proposed controller does not need to use acceleration-based feedback or to measure external loads and can tolerate considerable structure parameter errors. The global uniform asymptotic stability of the time-varying closed-loop system is analyzed, and a selection approach for control parameters is presented. It is demonstrated that, by using the proposed control parameter selection approach, the closed-loop system under the adaptive controller is equivalent to an existing result. The feasibility of the presented controller for the general manipulators is demonstrated by some numerical simulations.
WOS关键词TRACKING CONTROL ; SYSTEMS
资助项目National Key R&D Program of China[2019YFB1309603] ; National Key R&D Program of China[2020AAA0105801] ; Natural Science Foundation of Beijing[L202020] ; Natural Science Foundation of Beijing[4204097] ; Natural Science Foundation of China[62003005] ; Natural Science Foundation of China[62103007] ; Natural Science Foundation of China[51775002] ; Beijing Municipal Education Commission[KM202110009009] ; Beijing Municipal Education Commission[KZ202010009015] ; China Postdoctoral Science Foundation[2021M693404] ; Fundamental Research Funds for Beijing Municipal Universities ; Yuyou Talent Support Project of North China University of Technology ; open research fund of the State Key Laboratory for Management and Control of Complex Systems[20210103]
WOS研究方向Computer Science ; Robotics ; Neurosciences & Neurology
语种英语
出版者FRONTIERS MEDIA SA
WOS记录号WOS:000779373200001
资助机构National Key R&D Program of China ; Natural Science Foundation of Beijing ; Natural Science Foundation of China ; Beijing Municipal Education Commission ; China Postdoctoral Science Foundation ; Fundamental Research Funds for Beijing Municipal Universities ; Yuyou Talent Support Project of North China University of Technology ; open research fund of the State Key Laboratory for Management and Control of Complex Systems
源URL[http://ir.ia.ac.cn/handle/173211/48341]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者He, Guangping
作者单位1.Beijing Aerosp Measurement & Control Technol Co L, Beijing, Peoples R China
2.North China Univ Technol, Dept Mech & Elect Engn, Beijing, Peoples R China
3.Chinese Acad Sci, Inst Automation, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Liang, Xu,Su, Tingting,Zhang, Zhonghai,et al. An Adaptive Time-Varying Impedance Controller for Manipulators[J]. FRONTIERS IN NEUROROBOTICS,2022,16:10.
APA Liang, Xu.,Su, Tingting.,Zhang, Zhonghai.,Zhang, Jie.,Liu, Shengda.,...&He, Guangping.(2022).An Adaptive Time-Varying Impedance Controller for Manipulators.FRONTIERS IN NEUROROBOTICS,16,10.
MLA Liang, Xu,et al."An Adaptive Time-Varying Impedance Controller for Manipulators".FRONTIERS IN NEUROROBOTICS 16(2022):10.

入库方式： OAI收割

来源：自动化研究所

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