Model-Free Robust Adaptive Control of Humanoid Robots With Flexible Joints

A model-free robust adaptive controller is proposed for control of humanoid robots with flexible joints. The proposed controller uses a time-delay estimation technique to estimate and cancel nonlinear terms in robot dynamics including disturbance torques due to the joint flexibility, and assigns des...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2017-02, Vol.64 (2), p.1706-1715
Main Authors: Maolin Jin, Jinoh Lee, Tsagarakis, Nikolaos G.
Format: Article
Language:English
Subjects:
Adaptation
Adaptation models
Adaptive algorithms
Adaptive control
Adaptive gain tuning
automatic tuning
Computational modeling
Control algorithms
Control theory
Controllers
flexible joints
Humanoid
Humanoid robots
Mathematical model
Robot control
Robot dynamics
Robust control
Robustness
Sliding
time-delay control (TDC)
time-delay estimation (TDE)
Tuning
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Summary:A model-free robust adaptive controller is proposed for control of humanoid robots with flexible joints. The proposed controller uses a time-delay estimation technique to estimate and cancel nonlinear terms in robot dynamics including disturbance torques due to the joint flexibility, and assigns desired dynamics specified by a sliding variable. A gain-adaptation law is developed to dynamically update the gain of the proposed controller using the magnitude of the sliding variable and the gain itself. The gain-adaptation law uses a leakage term to prevent overestimation of the gain value, and offers stable and chattering-free control action. The effectiveness of the proposed adaptive controller is experimentally verified on a humanoid robot equipped with flexible joints. Tracking performances of the autotuned adaptive gain are better than those of the manually tuned constant gains. The proposed control algorithm is model-free, adaptive, robust, and highly accurate.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2016.2588461