L1 Adaptive Control of Parallel Kinematic Manipulators: Design and Real-Time Experiments

Moussab Bennehar 1 Ahmed Chemori 1 François Pierrot 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper, the recently developed L1 adaptive control strategy is experimentally validated for the first time on a parallel kinematic manipulator. The L1 adaptive controller is known for its decoupled estimation and control loops which enables fast adaptation while guaranteeing robustness of the closed-loop system. The control scheme is experimentally implemented on a 4-DOFs parallel kinematic manipulator. Based on the obtained experimental results, a comparative study shows that the proposed L1 adaptive controller outperforms the PD controller in terms of tracking performance thanks to the compensation of the nonlinearities in the adaptive controller.
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Moussab Bennehar, Ahmed Chemori, François Pierrot. L1 Adaptive Control of Parallel Kinematic Manipulators: Design and Real-Time Experiments. ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. ⟨10.1109/ICRA.2015.7139400⟩. ⟨hal-01176534⟩

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