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Adaptive finite-time impedance backstepping control for uncertain robotic systems interacting with unknown environments.
- Source :
- International Journal of Control; Nov2023, Vol. 96 Issue 11, p2671-2682, 12p
- Publication Year :
- 2023
-
Abstract
- This paper aims to address robot/environment interacting problems by designing an adaptive finite-time impedance controller. To deal with crucial issues regarding these sorts of problems, namely interacting with unknown environments and the system's uncertain nonlinearity, a backstepping control structure accompanied by an adaptive Taylor series system is developed. By designing a sliding surface term, two new variables are defined to form the backstepping controller to guarantee that the sliding surface converges to zero in a finite time. Also, impedance parameters are tuned adaptively using the gradient-descent algorithm inspired by a well-designed control literature. The designed controller has several useful features, such as being capable of implementing on n-DOF (degree-of-freedom) industrial manipulators, a guaranteed finite-time stability analysis, a regressor-free design, and dealing with uncertainties. Finally, a numerical simulation applied on a six-DOF manipulator and also a comparison with an impedance control are provided to show the efficiency of the designed controller. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00207179
- Volume :
- 96
- Issue :
- 11
- Database :
- Complementary Index
- Journal :
- International Journal of Control
- Publication Type :
- Academic Journal
- Accession number :
- 172839986
- Full Text :
- https://doi.org/10.1080/00207179.2022.2111365