Adaptive Control of Manipulators via an Extension to the Error-Based Minimal Control Synthesis with Integral Action Algorithm

摘要

This paper introduces an extension to the original error-based minimal control synthesis with integral action (Er-MCSI) algorithm, for controlling serial link manipulators. Minimal control synthesis (MCS) methods have a number of attractive features: no a priori knowledge of the robot structure is required; e.g., no need for parameter identification, no precise adjustment of control parameters is necessary and proven stability. After a brief summary of the basic MCS algorithm, we introduce the new algorithm, which provides a more robust environment in terms of gain wind-up protection. A proof of stability is also provided, together with simulation studies upon serial link manipulators, which demonstrate the excellent performance of the proposed algorithm, even under severe test conditions.