Robots control based on parameter identification and adaptive gain smooth sliding observer-controller

Adrian Filipescu , Luc Dugard (1) , Sabin Stamatescu

1 LAG - Laboratoire d'automatique de Grenoble

An adaptive gain, smooth sliding observer-controller is developed to control uncertain parameters, -degree of freedom rigid robotic manipulators. Furthermore, an on-line, closed loop identification scheme, for time-varying parameters is proposed in order to obtain useful information despite loads, external disturbances and faults detection. In order to reduce the chattering, a smooth switching function (parameterised tangent hyperbolic function) is used instead of pure relay one, into the observer and the controller. The gains of the switching functions are adaptively updated, depending on the estimation error and tracking error, respectively. Using adaptive gains, the transient and tracking responses are improved. Simulation results with a two degree of freedom (DOF) robot manipulator are presented to show the interest of the approach.

Mots clés: Robotic manipulators; adaptive gain; smooth sliding observer-controller; parameter identification

Domaines: Automatique / Robotique

Adrian Filipescu, Luc Dugard, Sabin Stamatescu. Robots control based on parameter identification and adaptive gain smooth sliding observer-controller. 16th IFAC World Congress, Jul 2005, Prague, Czech Republic. pp. 511 -- 516. ⟨hal-00384886⟩