A novel feedforward extended model reference adaptive control of PKMs: Design and real-time experiments

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-10-19 DOI:10.1016/j.mechatronics.2024.103261

Youcef Fitas , Ahmed Chemori , Johann Lamaury , Thierry Roux

引用次数: 0

Abstract

This paper presents a novel approach for controlling Parallel Kinematic Manipulators (PKMs) using a feedforward augmented Model Reference Adaptive Control (MRAC) scheme. The original direct MRAC approach lacks the knowledge of the dynamic model and does not ensure boundedness of the feedback gains. To overcome these limitations, our proposed approach incorporates a feedforward dynamic term to enhance the tracking performance, and a projection operator to guarantee the boundedness of the feedback gains. The proposed controller is validated through real-time experiments using a 6-Degrees-Of-Freedom (DOF) PKM, and is compared with the original direct MRAC and some state-of-the-art controllers in various scenarios, including nominal and robustness cases. The obtained experimental results demonstrate the superiority of the proposed approach in terms of trajectory tracking performances and adaptation efficiency.

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PKM 的新型前馈扩展模型参考自适应控制：设计与实时实验

本文提出了一种使用前馈增强型模型参考自适应控制（MRAC）方案控制并联机械手（PKM）的新方法。最初的直接 MRAC 方法缺乏动态模型知识，无法确保反馈增益的有界性。为了克服这些局限性，我们提出的方法加入了一个前馈动态项来增强跟踪性能，并加入了一个投影算子来保证反馈增益的有界性。通过使用 6 自由度（DOF）PKM 进行实时实验，对所提出的控制器进行了验证，并在各种情况下（包括名义情况和鲁棒性情况）与原始直接 MRAC 和一些最先进的控制器进行了比较。实验结果表明，所提出的方法在轨迹跟踪性能和适应效率方面都更胜一筹。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.