Optimized model reference adaptive motion control of robot arms with finite time tracking

Chenguang Yang; Hongbin Ma; Mengyin Fu; Alex M. Smith

Optimized model reference adaptive motion control of robot arms with finite time tracking

Chenguang Yang^*
, Hongbin Ma
, Mengyin Fu
, Alex M. Smith

^*Corresponding author for this work

School of Automation

University of Plymouth
Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings of the 31st Chinese Control Conference, CCC 2012
Pages	4356-4360
Number of pages	5
Publication status	Published - 2012
Event	31st Chinese Control Conference, CCC 2012 - Hefei, China Duration: 25 Jul 2012 → 27 Jul 2012

Publication series

Name	Chinese Control Conference, CCC
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	31st Chinese Control Conference, CCC 2012
Country/Territory	China
City	Hefei
Period	25/07/12 → 27/07/12

Keywords

LQR optimization
model reference control
variable structure

Cite this

@inproceedings{406dc1d35a0d451bbc04eb05837d4e49,

title = "Optimized model reference adaptive motion control of robot arms with finite time tracking",

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 = "LQR optimization, model reference control, variable structure",

author = "Chenguang Yang and Hongbin Ma and Mengyin Fu and Smith, \{Alex M.\}",

year = "2012",

language = "English",

isbn = "9789881563811",

series = "Chinese Control Conference, CCC",

pages = "4356--4360",

booktitle = "Proceedings of the 31st Chinese Control Conference, CCC 2012",

note = "31st Chinese Control Conference, CCC 2012 ; Conference date: 25-07-2012 Through 27-07-2012",

}

Optimized model reference adaptive motion control of robot arms with finite time tracking. / Yang, Chenguang; Ma, Hongbin; Fu, Mengyin et al.
Proceedings of the 31st Chinese Control Conference, CCC 2012. 2012. p. 4356-4360 6390691 (Chinese Control Conference, CCC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Optimized model reference adaptive motion control of robot arms with finite time tracking

AU - Yang, Chenguang

AU - Ma, Hongbin

AU - Fu, Mengyin

AU - Smith, Alex M.

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

KW - LQR optimization

KW - model reference control

KW - variable structure

UR - https://www.scopus.com/pages/publications/84873562799

M3 - Conference contribution

AN - SCOPUS:84873562799

SN - 9789881563811

T3 - Chinese Control Conference, CCC

SP - 4356

EP - 4360

BT - Proceedings of the 31st Chinese Control Conference, CCC 2012

T2 - 31st Chinese Control Conference, CCC 2012

Y2 - 25 July 2012 through 27 July 2012

ER -

Optimized model reference adaptive motion control of robot arms with finite time tracking

Abstract

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Conference

Keywords

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