Dynamic Modularity Approach to Adaptive Control of Robotic Systems With Closed Architecture

Modern applications of robotics typically involve a robot control system with an inner proportional-integral (PI) or proportional-integral-derivative (PID) control loop and an outer user-specified control loop for specifying the velocity (or position) command. Most existing outer loop controllers, h...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2020-06, Vol.65 (6), p.2760-2767
Main Authors: Wang, Hanlei, Ren, Wei, Cheah, Chien Chern, Xie, Yongchun, Lyu, Shangke
Format: Article
Language:English
Subjects:
Adaptive control
Aerospace electronics
Architecture
Computer architecture
Control stability
Controllers
dynamic feedback
dynamic modularity (DM) approach
Dynamic stability
Feedback control
Heuristic algorithms
Manipulator dynamics
modular design
Modularity
Proportional integral derivative
Robot control
Robotics
Robots
Service robots
Task analysis
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Summary:Modern applications of robotics typically involve a robot control system with an inner proportional-integral (PI) or proportional-integral-derivative (PID) control loop and an outer user-specified control loop for specifying the velocity (or position) command. Most existing outer loop controllers, however, do not take into consideration the dynamic effects of robots and their effectiveness relies on the ad hoc assumption that the inner PI or PID control loop is fast enough, and other torque-based controllers cannot be implemented in robots with closed architecture. This paper investigates the adaptive control of robotic systems with an inner/outer loop structure, taking into account the effects of the dynamics and uncertainties, and both the task-space control and joint-space control are considered. We propose a dynamic modularity approach to resolve this issue, and a class of adaptive outer loop control schemes is proposed and their role is to dynamically generate the joint velocity (or position) command for the low-level joint servoing loop. Without relying on the ad hoc assumption that the joint servoing loop is fast enough or modification of the low-level joint controller structure, we show that the proposed outer loop controllers can ensure stability and convergence of the closed-loop system. The formulated dynamic modularity approach is validated by the experimental results using different generations of the UR10 robots.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2019.2922450