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Model adaptive reference tracking control for uncertain robotic manipulators with input disturbance.

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Title: Model adaptive reference tracking control for uncertain robotic manipulators with input disturbance.
Authors: Pham, Thiem V.1 (AUTHOR) thiem.phamvan@phenikaa-uni.edu.vn, Nguyen, Quynh T. Thanh1 (AUTHOR)
Source: Asian Journal of Control. Nov2024, Vol. 26 Issue 6, p3291-3301. 11p.
Subjects: Magnetic bearings, Arbitrary constants, Robotics, Systems integrators, Robots
Abstract: This article presents a simple approach for designing a linear adaptive controller, employing the model reference systems concept, to enable the tracking of uncertain robotic manipulators under the influence of input disturbances. The combined impact of model uncertainties and matched disturbances on the robot's behavior is considered as a total matched disturbance, attributed to a double integral system. Subsequently, a novel linear disturbance estimator, augmented by a feed‐forward correction term, is employed to estimate this lumped disturbance within the double integrator system. As a result of this procedure, the requisite adaptive law, based on the model reference system, is formulated for the nominal control parameter instead of arbitrary free‐parameter selections. The effectiveness of the proposed approach is theoretically justified and further supported by its application in the analysis of an active magnetic bearing system. [ABSTRACT FROM AUTHOR]
Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Label: Title
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  Data: Model adaptive reference tracking control for uncertain robotic manipulators with input disturbance.
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  Data: <searchLink fieldCode="AR" term="%22Pham%2C+Thiem+V%2E%22">Pham, Thiem V.</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> thiem.phamvan@phenikaa-uni.edu.vn</i><br /><searchLink fieldCode="AR" term="%22Nguyen%2C+Quynh+T%2E+Thanh%22">Nguyen, Quynh T. Thanh</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Asian+Journal+of+Control%22">Asian Journal of Control</searchLink>. Nov2024, Vol. 26 Issue 6, p3291-3301. 11p.
– Name: Subject
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  Data: <searchLink fieldCode="DE" term="%22Magnetic+bearings%22">Magnetic bearings</searchLink><br /><searchLink fieldCode="DE" term="%22Arbitrary+constants%22">Arbitrary constants</searchLink><br /><searchLink fieldCode="DE" term="%22Robotics%22">Robotics</searchLink><br /><searchLink fieldCode="DE" term="%22Systems+integrators%22">Systems integrators</searchLink><br /><searchLink fieldCode="DE" term="%22Robots%22">Robots</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: This article presents a simple approach for designing a linear adaptive controller, employing the model reference systems concept, to enable the tracking of uncertain robotic manipulators under the influence of input disturbances. The combined impact of model uncertainties and matched disturbances on the robot's behavior is considered as a total matched disturbance, attributed to a double integral system. Subsequently, a novel linear disturbance estimator, augmented by a feed‐forward correction term, is employed to estimate this lumped disturbance within the double integrator system. As a result of this procedure, the requisite adaptive law, based on the model reference system, is formulated for the nominal control parameter instead of arbitrary free‐parameter selections. The effectiveness of the proposed approach is theoretically justified and further supported by its application in the analysis of an active magnetic bearing system. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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      – Type: doi
        Value: 10.1002/asjc.3405
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      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 11
        StartPage: 3291
    Subjects:
      – SubjectFull: Magnetic bearings
        Type: general
      – SubjectFull: Arbitrary constants
        Type: general
      – SubjectFull: Robotics
        Type: general
      – SubjectFull: Systems integrators
        Type: general
      – SubjectFull: Robots
        Type: general
    Titles:
      – TitleFull: Model adaptive reference tracking control for uncertain robotic manipulators with input disturbance.
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            NameFull: Pham, Thiem V.
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            NameFull: Nguyen, Quynh T. Thanh
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            – D: 01
              M: 11
              Text: Nov2024
              Type: published
              Y: 2024
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              Value: 26
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              Value: 6
          Titles:
            – TitleFull: Asian Journal of Control
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