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Polynomial-Based Robust Adaptive Impedance Control of Electrically Driven Robots

Published online by Cambridge University Press:  04 November 2020

Alireza Izadbakhsh Open the ORCID record for Alireza Izadbakhsh [Opens in a new window]  and
Saeed Khorashadizadeh Open the ORCID record for Saeed Khorashadizadeh [Opens in a new window]
Alireza Izadbakhsh*
Affiliation:
Department of Electrical Engineering, Garmsar branch, Islamic Azad University, Garmsar, Iran
Saeed Khorashadizadeh
Affiliation:
Faculty of Electrical and Computer Engineering, University of Birjand, Birjand, Iran
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper presents a robust adaptive impedance controller for electrically driven robots using polynomials of degree N as a universal approximator. According to the universal approximation theorem, polynomials of degree N can approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed and proved in this paper. The polynomial coefficients are estimated based on the adaptive law calculated in the stability analysis. A performance evaluation has been carried out to verify satisfactory performance of the controller. Simulation results on a two degree of freedom manipulator have been presented to guarantee its successful implementation.

Keywords

Impedance controlRobot manipulatorFunction approximation techniqueRobust adaptive controlUniversal approximation theorem
Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021 , pp. 1181 - 1201
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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