NDLI: Iterative adaptive control of a strongly underactuated mechanical system with limited possibilities for state observation

Content Provider	IEEE Xplore Digital Library
Author	Tar, J.K. Rudas, I.J. Menthy, S.
Copyright Year	2012
Description	Author affiliation: Donát Bánki Faculty of Mechanical and Safety Engineering, Óbuda University, Bécsi út 96/B., Budapest, H-1034, Hungary (Menthy, S.) \|\| Institute of Intelligent Engineering Systems, John von Neumann Faculty of Informatics, Óbuda University, Bécsi út 96/B., Budapest, H-1034, Hungary (Rudas, I.J.) \|\| Communication Informatics & Telematics Knowledge Centre, Óbuda University, Bécsi út 96/B., Budapest, H-1034, Hungary (Tar, J.K.)
Abstract	Efficient control of strongly underactuated mechanical systems in which no practical means exist for developing observers to reveal the internal dynamic state of the system under control is a challenging task. In many practical cases it is even hopeless to develop an at least formally complete system model. For instance deformable robot arms may have infinitely many “degree of freedom” that -under special boundary conditions- may become at least countable. In such cases the controllers have to do with observing and manipulating the behavior only of the modeled and directly actuated axles while the lack of at least a formal model anticipates the use of some adaptive technique without tuning any model parameter. The Robust Fixed Point Transformations (RFPT)-based technique using appropriate adaptive input deformation seems to be a natural possibility for this purpose. In this paper a deformable single robot arm is modeled by six rigid arm-segments connected by deformable joints without internal actuation. Only the first section's axle is actuated and the position of the end-point of the last segment is assumed to be optically observable. The excitation of the internal axles is “observed” only trough their effect of the torque fluctuation of the controller. Simulation results substantiate the assumption that the RFPT-base adaptive controller can efficiently solve such tasks.
Starting Page	241
Ending Page	246
File Size	508201
Page Count	6
File Format	PDF
ISBN	9781467326940
e-ISBN	9781467326957
e-ISBN	9781467326933
DOI	10.1109/INES.2012.6249838
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-13
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptation models Axles Torque Joints Trajectory Robot kinematics
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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