An SVD based modification of the adaptive inverse dynamics controller

J. K. Tar, J. F. Bitó, I. J. Rudas, S. Preitl, Radu Emil Precup

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

The most popular classical adaptive robot control methods as the Adaptive Inverse Dynamics Control or the Slotine-Li Adaptive Robot Controller are constructed on the basis of exact knowledge on the form of the equations of motion, and on the application of Lyapunov's 2nd Method. This generic technique makes it possible to guarantee the stability of the controlled system using only simple estimations without having any detailed knowledge on its motion that is a great advantage. However, in the application of this elegant technique the main problem is the proper construction of the Lyapunov function. Formal elegance usually has the price of limitations in the applicable trajectory tracking policy and in the presence of a huge number of the constant control parameters set in the commencement of the controller's operation. In the here presented approach the Adaptive Inverse Dynamics control is simplified by evading the use of the Lyapunov function and the inversion of the actual estimated inertia matrix by utilizing the information encoded in the equations of motion in a quite different manner. The advantage is the limitation in the number of the fixed control parameters, and possibility for faster parameter tuning due to the evasion of the most critical step of the original method, i.e. the inversion of the actual estimation of the inertia matrix the singularity of which can interrupt and stop the whole control process. The modified control is also illustrated by numerical examples calculated via simulation for a simple Classical Mechanical System as a paradigm.

Original languageEnglish
Title of host publicationProceedings - 2009 5th International Symposium on Applied Computational Intelligence and Informatics, SACI 2009
Pages193-198
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 5th International Symposium on Applied Computational Intelligence and Informatics, SACI 2009 - Timisoara
Duration: May 28 2009May 29 2009

Other

Other2009 5th International Symposium on Applied Computational Intelligence and Informatics, SACI 2009
CityTimisoara
Period5/28/095/29/09

Fingerprint

Singular value decomposition
Controllers
Intelligent robots
Lyapunov functions
Equations of motion
Lyapunov methods
Tuning
Trajectories

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Information Systems
  • Software

Cite this

Tar, J. K., Bitó, J. F., Rudas, I. J., Preitl, S., & Precup, R. E. (2009). An SVD based modification of the adaptive inverse dynamics controller. In Proceedings - 2009 5th International Symposium on Applied Computational Intelligence and Informatics, SACI 2009 (pp. 193-198). [5136240] https://doi.org/10.1109/SACI.2009.5136240

An SVD based modification of the adaptive inverse dynamics controller. / Tar, J. K.; Bitó, J. F.; Rudas, I. J.; Preitl, S.; Precup, Radu Emil.

Proceedings - 2009 5th International Symposium on Applied Computational Intelligence and Informatics, SACI 2009. 2009. p. 193-198 5136240.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tar, JK, Bitó, JF, Rudas, IJ, Preitl, S & Precup, RE 2009, An SVD based modification of the adaptive inverse dynamics controller. in Proceedings - 2009 5th International Symposium on Applied Computational Intelligence and Informatics, SACI 2009., 5136240, pp. 193-198, 2009 5th International Symposium on Applied Computational Intelligence and Informatics, SACI 2009, Timisoara, 5/28/09. https://doi.org/10.1109/SACI.2009.5136240
Tar JK, Bitó JF, Rudas IJ, Preitl S, Precup RE. An SVD based modification of the adaptive inverse dynamics controller. In Proceedings - 2009 5th International Symposium on Applied Computational Intelligence and Informatics, SACI 2009. 2009. p. 193-198. 5136240 https://doi.org/10.1109/SACI.2009.5136240
Tar, J. K. ; Bitó, J. F. ; Rudas, I. J. ; Preitl, S. ; Precup, Radu Emil. / An SVD based modification of the adaptive inverse dynamics controller. Proceedings - 2009 5th International Symposium on Applied Computational Intelligence and Informatics, SACI 2009. 2009. pp. 193-198
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