Motion Control of Manipulators Based on Model-free Adaptive Control

3rd International Conference on Automation, Control and Robotics Engineering

工业技术;计算机科学;无线电电子学

Zhang, Ziqiao^1 ; Dian, Songyi^1

Department of Automation, College of Electrical Engineering and Information Technology, Sichuan University, Chengdu, Sichuan, China^1

关键词: Adaptive controllers;    Controller designs;    Controller parameter;    Dynamic linearization;    External disturbances;    Input and outputs;    Model-free adaptive control;    Multiple input and multiple outputs;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/428/1/012051/pdf
DOI  :  10.1088/1757-899X/428/1/012051

来源: IOP

【 摘 要 】

In this paper, the model-free adaptive control (MFAC) method which is based on compact form dynamic linearization (CFDL) of multiple input and multiple output (MIMO) nonlinear systems is applied to the control of Puma560 manipulator. The controller design requires only the input and output data of the system. The simulation results verify the effectiveness of the model-free adaptive control method. Based on the structure of the controller, the function of controller parameters is analysed. By adding external disturbances, the anti-interference of Puma560 based on model-free adaptive control can be verified. The model free adaptive controller is optimized.