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
T3 - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
SP - 537
EP - 543
BT - 10th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2005
T2 - 10th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2005
Y2 - 19 September 2005 through 22 September 2005
ER -