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Distributed adaptive control strategy for flexible link manipulators

Published online by Cambridge University Press:  01 July 2016

Fareh Raouf ,
Saad Mohamad ,
Saad Maarouf  and
Bettayeb Maamar
Fareh Raouf*
Affiliation:
Department of Electrical and Computer Engineering, University of Sharjah, P.O. Box 27272, Sharjah, United Arab Emirates. E-mail: maamar@sharjah.ac.ae
Saad Mohamad
Affiliation:
School of Engineering, Université du Québec en Abitibi-Témiscamingue, 445, boul. de l'Université, Rouyn-Noranda, Quebec J9X 5E4, Canada. E-mail: mohamad.saad@uqat.ca
Saad Maarouf
Affiliation:
Department of Electrical Engineering, École de technologie supérieure, Université du Québec, 1100 Notre-Dame West, Montreal, Quebec H3C 1K3, Canada. E-mail: maarouf.saad@etsmtl.ca
Bettayeb Maamar
Affiliation:
Department of Electrical and Computer Engineering, University of Sharjah, P.O. Box 27272, Sharjah, United Arab Emirates. E-mail: maamar@sharjah.ac.ae
*
*Corresponding author. E-mail: rfareh@sharjah.ac.ae
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Summary

This paper presents an adaptive distributed control strategy for n-serial-flexible-link manipulators. The proposed adaptive controller is used for flexible-link-manipulators: (1) to solve the tracking control problem in the joint space, and (2) to reduce vibrations of the links. The dynamical model of flexible link manipulators is reorganized to take the form of n interconnected subsystems. Each subsystem has a one-joint and one-link pair. The system parameters are deemed to be unknown. The adaptive distributed strategy controls one subsystem in each step, starting from the last one. The nth subsystem is controlled by assuming that the remaining subsystems are stable. Then, proceeding backward to the (n-1)th system, the same strategy is applied, and so on, until the first subsystem is reached. The gradient-based estimator is used to estimate the parameters of each subsystem. The control law of the ith subsystem uses its own estimated parameters and the estimated parameters of all upper level subsystems. The global stability of the error dynamics is proved using Lyapunov approach. This algorithm was implemented in real time on a two-flexible-link manipulator, and a comparison with the non-adaptive version shows the effectiveness of this approach.

Keywords

Distributed controlAdaptive controlFlexible-link manipulatorsError dynamicsStability

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Type
Articles
Information
Robotica , Volume 35 , Issue 7 , July 2017 , pp. 1562 - 1584
Copyright
Copyright © Cambridge University Press 2016 

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