A Novel RISE-Based Adaptive Feedforward Controller for Redundantly Actuated Parallel Manipulators

Moussab Bennehar 1, * Ahmed Chemori 1 François Pierrot 1
* Corresponding author
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : A novel adaptive controller based on the Robust Integral of the Sign of the Error (RISE) is proposed. The RISE feedback strategy yields semi-global asymptotic tracking despite the presence of unstructured additive disturbances provided some limited assumptions on the system. To achieve better tracking performance, the RISE controller is extended with a model-based adaptive feedforward term. The addition of the feedforward term compensates for the structured uncertainties yielding reduced tracking errors and reduced control effort. The proposed controller is experimentally implemented on a 3-DOFs redundantly actuated parallel manipulator. The computed con- trol inputs are projected using a kinematics based projector in order to remove the internal efforts that may damage the mechanical structure of the manipulator. Experimental results show a better performance of the proposed adaptive controller compared to the basic RISE controller in terms of tracking accuracy and energy consumption.
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Moussab Bennehar, Ahmed Chemori, François Pierrot. A Novel RISE-Based Adaptive Feedforward Controller for Redundantly Actuated Parallel Manipulators. IEEE/RAS International Conference on Robotic Systems, Sep 2014, Chicago, United States. pp.2389-2394. ⟨hal-01070860⟩

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