Iterative adaptive control of a strongly underactuated mechanical system with limited possibilities for state observation

József K. Tar, Imre J. Rudas, Szabolcs Menthy

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

3 Citations (Scopus)

Abstract

Efficient control of strongly underactuated mechanical systems in which no practical means exist for developing observers to reveal the internal dynamic state of the system under control is a challenging task. In many practical cases it is even hopeless to develop an at least formally complete system model. For instance deformable robot arms may have infinitely many "degree of freedom" that -under special boundary conditions- may become at least countable. In such cases the controllers have to do with observing and manipulating the behavior only of the modeled and directly actuated axles while the lack of at least a formal model anticipates the use of some adaptive technique without tuning any model parameter. The Robust Fixed Point Transformations (RFPT)-based technique using appropriate adaptive input deformation seems to be a natural possibility for this purpose. In this paper a deformable single robot arm is modeled by six rigid arm-segments connected by deformable joints without internal actuation. Only the first section's axle is actuated and the position of the end-point of the last segment is assumed to be optically observable. The excitation of the internal axles is "observed" only trough their effect of the torque fluctuation of the controller. Simulation results substantiate the assumption that the RFPT-base adaptive controller can efficiently solve such tasks.

Original languageEnglish
Title of host publicationINES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings
Pages241-246
Number of pages6
DOIs
Publication statusPublished - Oct 1 2012
EventIEEE 16th International Conference on Intelligent Engineering Systems, INES 2012 - Lisbon, Portugal
Duration: Jun 13 2012Jun 15 2012

Publication series

NameINES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings

Other

OtherIEEE 16th International Conference on Intelligent Engineering Systems, INES 2012
CountryPortugal
CityLisbon
Period6/13/126/15/12

    Fingerprint

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Tar, J. K., Rudas, I. J., & Menthy, S. (2012). Iterative adaptive control of a strongly underactuated mechanical system with limited possibilities for state observation. In INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings (pp. 241-246). [6249838] (INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings). https://doi.org/10.1109/INES.2012.6249838