Abstract
In this paper, an adaptive inverse control with internal model control (IMC) structure is proposed and implemented on a robotic arm manipulator system. The plant is stabilized using a simple lead-lag controller and the inverse of the plant is estimated using normalized least mean square (nLMS) algorithm. Radial base transfer function is used as an input mask to the adaptive algorithm. A delayed version of the reference signal is compared with the plant output to produce the error for the adaptive algorithm. The error signal is masked by a hyperbolic tangent sigmoid transfer function and the learning rate is adjusted automatically. A rate limiter is used in the model identification part to eliminate oscillatory plant output behavior. Comparison between adaptive inverse control and IMC structure is implemented and results are shown to demonstrate the effectiveness of the proposed method.
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Emerging Technologies and Factory Automation, ETFA |
| Pages | 537-543 |
| Number of pages | 7 |
| Volume | 1 2 VOLS |
| Publication status | Published - 2005 |
| Event | 10th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2005 - Catania, Italy Duration: Sep 19 2005 → Sep 22 2005 |
Other
| Other | 10th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2005 |
|---|---|
| Country | Italy |
| City | Catania |
| Period | 9/19/05 → 9/22/05 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Adaptive inverse control with IMC structure implementation on robotic arm manipulator. / Al-Zahrani, Khalid M.; Shafiq, Muhammad.
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. Vol. 1 2 VOLS 2005. p. 537-543 1612570.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Adaptive inverse control with IMC structure implementation on robotic arm manipulator
AU - Al-Zahrani, Khalid M.
AU - Shafiq, Muhammad
PY - 2005
Y1 - 2005
N2 - In this paper, an adaptive inverse control with internal model control (IMC) structure is proposed and implemented on a robotic arm manipulator system. The plant is stabilized using a simple lead-lag controller and the inverse of the plant is estimated using normalized least mean square (nLMS) algorithm. Radial base transfer function is used as an input mask to the adaptive algorithm. A delayed version of the reference signal is compared with the plant output to produce the error for the adaptive algorithm. The error signal is masked by a hyperbolic tangent sigmoid transfer function and the learning rate is adjusted automatically. A rate limiter is used in the model identification part to eliminate oscillatory plant output behavior. Comparison between adaptive inverse control and IMC structure is implemented and results are shown to demonstrate the effectiveness of the proposed method.
AB - In this paper, an adaptive inverse control with internal model control (IMC) structure is proposed and implemented on a robotic arm manipulator system. The plant is stabilized using a simple lead-lag controller and the inverse of the plant is estimated using normalized least mean square (nLMS) algorithm. Radial base transfer function is used as an input mask to the adaptive algorithm. A delayed version of the reference signal is compared with the plant output to produce the error for the adaptive algorithm. The error signal is masked by a hyperbolic tangent sigmoid transfer function and the learning rate is adjusted automatically. A rate limiter is used in the model identification part to eliminate oscillatory plant output behavior. Comparison between adaptive inverse control and IMC structure is implemented and results are shown to demonstrate the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=33847267639&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33847267639&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:33847267639
SN - 078039402X
SN - 9780780394025
VL - 1 2 VOLS
SP - 537
EP - 543
BT - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
ER -