Title :
Optimized model reference adaptive motion control of robot arms with finite time tracking
Author :
Yang, Chenguang ; Ma, Hongbin ; Fu, Mengyin ; Smith, Alex M.
Author_Institution :
Sch. of Comput. & Math., Univ. of Plymouth, Plymouth, UK
Abstract :
In this paper, we study motion control of general n degrees of freedom (DOFs) rigid robot arms. Aiming at shaping the controlled closed-loop dynamics to be of minimized motion tracking errors and as well as angular accelerations, we employ the linear quadratic regulation (LQR) optimization technique to obtain an optimal reference model. Adaptive control is then developed to ensure that the reference model can be matched in finite time, in the presence of various uncertainties. The stability and optimal tracking performance have been rigorously established by theoretic analysis.
Keywords :
closed loop systems; linear quadratic control; model reference adaptive control systems; motion control; optimisation; robot dynamics; stability; LQR optimization technique; angular accelerations; controlled closed-loop dynamics; degrees of freedom rigid robot arms; finite time matching; finite time tracking; linear quadratic regulation optimization technique; minimized motion tracking errors; optimal reference model; optimal tracking performance; optimized model reference adaptive motion control; Adaptation models; Adaptive control; Force; Impedance; Manipulators; Tracking; LQR optimization; model reference control; variable structure;
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
Print_ISBN :
978-1-4673-2581-3
