Decentralised adaptive control of cooperating Robotic manipulators with disturbance observers

Zhijun Li; Shuming Deng; Chun-Yi Su; Guanglin Li; Zhangguo Yu; Yanjun Liu; Min Wang

Decentralised adaptive control of cooperating Robotic manipulators with disturbance observers

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Author(s): Zhijun Li ¹ ; Shuming Deng ¹ ; Chun-Yi Su ¹ ; Guanglin Li ² ; Zhangguo Yu ^{3, 4} ; Yanjun Liu ⁵ ; Min Wang ¹
- Affiliations: 1: Key Laboratory of Autonomous System and Network Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, People's Republic of China;
  2: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, People's Republic of China;
  3: School of Mechatronical Engineering, Beijing Institute of Technology, People's Republic of China;
  4: Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, People's Republic of China;
  5: School of Science, Liaoning University of Technology, People's Republic of China
Source: Volume 8, Issue 7, 01 May 2014, p. 515 – 521
DOI: 10.1049/iet-cta.2013.0611 , Print ISSN 1751-8644, Online ISSN 1751-8652

Received 11/02/2013, Accepted 08/11/2013, Revised 04/11/2013, Published 04/03/2014

In this study, the authors present decentralised adaptive controllers for two cooperating robotic manipulators moving an object with constrained trajectory/force in the presence of dynamics uncertainties and external disturbances. The cooperating manipulators are described as an aggregation of subsystems. For control design, first a decentralised local dynamics coupled with physical interactions between subsystems is developed, and then a decentralised adaptive control merging parameter adaptation and disturbance observer is constructed, such that motion and force trajectories converge to the desired manifolds and the effect of non-parametrisable uncertainties is compensated by the disturbance observer. Experiment studies are carried out to show the efficiency of the control design.

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