Journal
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
Volume 36, Issue 2, Pages 264-281Publisher
WILEY
DOI: 10.1002/acs.3360
Keywords
actuator saturation; adaptive robot control; contraction theory; MIMO systems; singular perturbation
Funding
- National Robotics Programme under its Robot Domain Specific [192 22 00058]
- National Robotics Programme under its Robotics Enabling Capabilities and Technologies [192 25 00051]
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The article introduces an adaptive control technique based on singular perturbation to address the issue of actuator saturation in industrial and robotic applications. By utilizing a high gain dynamic controller to enforce time scale separation, the technique ensures tracking performance and compensates for uncertainties. The methodology is also extended to multi input multi output systems like mobile robots, showing effectiveness through numerical simulations.
The saturation of actuators is a critical issue in numerous industrial and robotic applications. The article presents a singular perturbation based adaptive control technique for solving the tracking problem in uncertain feedback linearizable systems. A high gain dynamic controller technique is utilized to enforce time scale separation and facilitating dynamic inversion. The resulting closed loop singularly perturbed system is proved to be partially contracting, and the existence of a unique isolated slow manifold is assured via contraction technique. The parameter adaptation ensures uncertainties compensation and subsequently bounded tracking performance. Further, the technique is extended for multi input multi output systems like mobile robots. The numerical simulations present the usability of the proposed methodology and its effectiveness.
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