Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach
Design of an adaptive controller for complex dynamic systems is a big challenge faced by the researchers. In this paper, we introduce a novel concept of dynamic pole motion (DPM) for the design of an error-based adaptive controller (E-BAC). The purpose of this novel design approach is to make the sy...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2011-01-01
|
| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2011/726807 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832548506084048896 |
|---|---|
| author | Ki-Young Song Madan M. Gupta Noriyasu Homma |
| author_facet | Ki-Young Song Madan M. Gupta Noriyasu Homma |
| author_sort | Ki-Young Song |
| collection | DOAJ |
| description | Design of an adaptive controller for complex dynamic systems is a big challenge faced by the researchers. In this paper, we introduce a novel concept of dynamic pole motion (DPM) for the design of an error-based adaptive controller (E-BAC). The purpose of this novel design approach is to make the system response reasonably fast with no overshoot, where the system may be time varying and nonlinear with only partially known dynamics. The E-BAC is implanted in a system as a nonlinear controller with two dominant dynamic parameters: the dynamic position feedback and the dynamic velocity feedback. For illustrating the strength of this new approach, in this paper we give an example of a flexible robot with nonlinear dynamics. In the design of this feedback adaptive controller, parameters of the controller are designed as a function of the system error. The position feedback Kp(e,t) and the velocity feedback Kv(e,t) are continuously varying and formulated as a function of the system error e(t). This approach for formulating the adaptive controller yields a very fast response with no overshoot. |
| format | Article |
| id | doaj-art-ed1884c2126b45f688161f7ee2d73d46 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-ed1884c2126b45f688161f7ee2d73d462025-02-03T06:13:59ZengWileyJournal of Robotics1687-96001687-96192011-01-01201110.1155/2011/726807726807Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion ApproachKi-Young Song0Madan M. Gupta1Noriyasu Homma2Intelligent Systems Research Laboratory, College of Engineering, University of Saskatchewan, Saskatoon, Sk, S7N 5A9, CanadaIntelligent Systems Research Laboratory, College of Engineering, University of Saskatchewan, Saskatoon, Sk, S7N 5A9, CanadaResearch Division on Advanced Information Technology, Cyberscience Center, Tohoku University, Sendai 980-8579, JapanDesign of an adaptive controller for complex dynamic systems is a big challenge faced by the researchers. In this paper, we introduce a novel concept of dynamic pole motion (DPM) for the design of an error-based adaptive controller (E-BAC). The purpose of this novel design approach is to make the system response reasonably fast with no overshoot, where the system may be time varying and nonlinear with only partially known dynamics. The E-BAC is implanted in a system as a nonlinear controller with two dominant dynamic parameters: the dynamic position feedback and the dynamic velocity feedback. For illustrating the strength of this new approach, in this paper we give an example of a flexible robot with nonlinear dynamics. In the design of this feedback adaptive controller, parameters of the controller are designed as a function of the system error. The position feedback Kp(e,t) and the velocity feedback Kv(e,t) are continuously varying and formulated as a function of the system error e(t). This approach for formulating the adaptive controller yields a very fast response with no overshoot.http://dx.doi.org/10.1155/2011/726807 |
| spellingShingle | Ki-Young Song Madan M. Gupta Noriyasu Homma Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach Journal of Robotics |
| title | Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach |
| title_full | Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach |
| title_fullStr | Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach |
| title_full_unstemmed | Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach |
| title_short | Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach |
| title_sort | design of an error based adaptive controller for a flexible robot arm using dynamic pole motion approach |
| url | http://dx.doi.org/10.1155/2011/726807 |
| work_keys_str_mv | AT kiyoungsong designofanerrorbasedadaptivecontrollerforaflexiblerobotarmusingdynamicpolemotionapproach AT madanmgupta designofanerrorbasedadaptivecontrollerforaflexiblerobotarmusingdynamicpolemotionapproach AT noriyasuhomma designofanerrorbasedadaptivecontrollerforaflexiblerobotarmusingdynamicpolemotionapproach |