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Tracking Control of Electrically Driven Robots Using a Model-free Observer

Published online by Cambridge University Press:  18 December 2018

Alireza Izadbakhsh Open the ORCID record for Alireza Izadbakhsh [Opens in a new window] ,
Saeed Khorashadizadeh  and
Payam Kheirkhahan Open the ORCID record for Payam Kheirkhahan [Opens in a new window]
Alireza Izadbakhsh*
Affiliation:
Department of Electrical Engineering, Garmsar Branch, Islamic Azad University, Garmsar, Iran E-mail: kheirkhahan_payam@hotmail.com
Saeed Khorashadizadeh
Affiliation:
Faculty of Electrical and Computer Engineering, University of Birjand, 615/97175 Birjand, Iran E-mail: s.khorashadizadeh@birjand.ac.ir
Payam Kheirkhahan
Affiliation:
Department of Electrical Engineering, Garmsar Branch, Islamic Azad University, Garmsar, Iran E-mail: kheirkhahan_payam@hotmail.com
*
*Corresponding author. E-mail: izadbakhsh_alireza@hotmail.com
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Summary

This paper presents a robust tracking controller for electrically driven robots, without the need for velocity measurements of joint variables. Many observers require the system dynamics or nominal models, while a model-free observer is presented in this paper. The novelty of this paper is presenting a new observer–controller structure based on function approximation techniques and Stone–Weierstrass theorem using differential equations. In fact, it is assumed that the lumped uncertainty can be modeled by linear differential equations. Then, using Stone–Weierstrass theorem, it is verified that these differential equations are universal approximators. The advantage of proposed approach in comparison with previous related works is simplicity and reducing the dimensions of regressor matrices without the need for any information of the systems’ dynamic. Simulation results on a 6-degrees of freedom robot manipulator driven by geared permanent magnet DC motors indicate the satisfactory performance of the proposed method in overcoming uncertainties and reducing the tracking error. To evaluate the performance of proposed controller in practical implementations, experimental results on an SCARA manipulator are presented.

Keywords

Cable driven parallel manipulatorDifferential equationsElectrically driven robotObserver-based controlRedundant robotRobust controlUniversal approximator
Type
Articles
Information
Robotica , Volume 37 , Issue 4 , April 2019 , pp. 729 - 755
Copyright
Copyright © Cambridge University Press 2018 

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