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An observer-based output tracking controller for electrically driven cooperative multiple manipulators with adaptive Bernstein-type approximator
| Content Provider | Scilit |
|---|---|
| Author | Izadbakhsh, Alireza |
| Copyright Year | 2021 |
| Description | Thisarticle presents an observer-based output tracking control method for electrically actuated cooperative multiple manipulators using Bernstein-type operators as a universal approximator. This efficient mathematical tool represents lumped uncertainty, including external perturbations and unmodeled dynamics. Then, adaptive laws are derived through the stability analysis to tune the polynomial coefficients. It is confirmed that all the position and force tracking errors are uniformly ultimately bounded using the Lyapunov stability theorem. The theoretical achievements are validated by applying the proposed observer-based controller to a cooperative robotic system comprised of two manipulators transporting a rigid object. The outcomes of the introduced method are also compared to RBFNN, which is a powerful state-of-the-art approximator. The results demonstrate the efficacy of the introduced adaptive control approach in controlling the system even in the presence of disturbances and uncertainties. |
| Related Links | https://www.cambridge.org/core/services/aop-cambridge-core/content/view/2884F944DF25DF143E0B81A36F69E844/S026357472100165Xa.pdf/div-class-title-an-observer-based-output-tracking-controller-for-electrically-driven-cooperative-multiple-manipulators-with-adaptive-bernstein-type-approximator-div.pdf |
| Ending Page | 2319 |
| Page Count | 25 |
| Starting Page | 2295 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s026357472100165x |
| Journal | Robotica |
| Issue Number | 7 |
| Volume Number | 40 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2021-11-29 |
| Access Restriction | Open |
| Subject Keyword | Robotica type Operator Cooperative Manipulators Lyapunov Stability Output Tracking Controller |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
