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An Adaptive Regressor-Free Fourier Series-Based Tracking Controller for Robot Manipulators: Theory and Experimental Evaluation

Published online by Cambridge University Press:  17 February 2021

Jorge Villalobos-Chin Open the ORCID record for Jorge Villalobos-Chin [Opens in a new window]  and
Víctor Santibáñez
Jorge Villalobos-Chin*
Affiliation:
Tecnológico Nacional de México/Instituto Tecnológico de la Laguna, Apdo. Postal 49, Adm. 1, Torreón, Coahuila27000, Mexico, E-mail: [email protected]
Víctor Santibáñez
Affiliation:
Tecnológico Nacional de México/Instituto Tecnológico de la Laguna, Apdo. Postal 49, Adm. 1, Torreón, Coahuila27000, Mexico, E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

In this article, we propose a nonlinear Proportional+Derivative (PD) tracking controller with adaptive Fourier series compensation. The proposed controller uses a regressor-free adaptive scheme that relies on a trigonometric polynomial with varying coefficients to solve the control problem. Asymptotic convergence of the position and velocity errors is proven via a formal stability analysis based on Lyapunov and LaSalle theory for discontinuous systems. The proposed controller is validated on a 2-degrees of freedom robot manipulator. The experimental results validate the theoretically obtained results and reflect the effect of certain parameters in the transient behavior of the error dynamics. Certain robustness properties are also observed.

Keywords

FourierRobotic manipulatorAdaptive controlDiscontinuous control
Type
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Information
Robotica , Volume 39 , Issue 11 , November 2021 , pp. 1981 - 1996
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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Footnotes

†

This project was partially supported by Conacyt and TecNM Projects.

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