Task-space tracking of robot manipulators via internal model principle approach

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-01-27 DOI:10.1016/j.automatica.2024.112104

Haiwen Wu , Bayu Jayawardhana , Dabo Xu

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引用次数: 0

Abstract

This paper presents an internal model-based adaptive control method for uncertain robot manipulators, addressing the task-space asymptotic tracking problem. In the proposed scheme, the reference trajectory is assumed to be a multi-tone sinusoidal signal with unknown amplitude and frequency parameters, and the robot kinematic and dynamic parameters are considered uncertain. Unlike existing approaches that assume the reference signals are directly measurable, we propose an error feedback controller that requires only measurements of the task-space tracking error, joint position, and joint velocity. Specifically, based on the internal model principle, an internal model-based dynamic compensator is developed to reproduce the reference signals. By using the parameter linearity properties of the robot kinematics and dynamics, adaptive laws are derived to handle the unknown parameters. The stability of the closed-loop system and the asymptotic convergence of the tracking error are analyzed using output stability concepts. The effectiveness of the proposed approach is validated through numerical simulations with a three-DOF manipulator.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.