@article{c01f042ff7974652834d63792cbb7c83,
title = "Adaptive control of underactuated robots with unmodeled dynamics",
abstract = "This paper develops an adaptive controller for underactuated robotic systems with unmodeled dynamics. The control scheme is motivated by the applications of manipulators operating on dynamic platforms. The design decouples the system's adaptation and control loops to allow for fast estimation rates, while guaranteeing bounded deviation from a nonadaptive reference system. The proposed formulation is independent of detailed information about the system model. The control scheme is tested in different trajectory-tracking scenarios: (i) a manipulator installed on a ship operating in a high-sea state with uncertain environmental disturbances and (ii) a mobile manipulator moving across a rough terrain of unknown geometry. The simulation results illustrate the tracking performance of the proposed control algorithm, its ability to deal with unmodeled dynamics, and its robustness to measurement noise and time delay, while maintaining smooth control signals.",
keywords = "Adaptive control, Moving platforms, Underactuated robots, Unmodeled dynamics",
author = "Nguyen, {Kim Doang} and Harry Dankowicz",
note = "Funding Information: Harry Dankowicz is a professor of Mechanical Science and Engineering at the University of Illinois at Urbana-Champaign. He graduated from KTH Royal Institute of Technology in Stockholm, Sweden, with an M.Sc. in Engineering Physics in 1991 and, subsequently, from Cornell University with a Ph.D. in Theoretical and Applied Mechanics in 1995. Following a post-doctoral and research associate appointment at KTH between 1995 and 1999, he joined the Department of Engineering Science and Mechanics at Virginia Polytechnic Institute and State University, where he remained until 2005. He is a recipient of several prestigious faculty career awards, including a Junior Investigator Grant from the Swedish Foundation for Strategic Research, a CAREER award from the US National Science Foundation, a PECASE award from the US National Science Foundation, and the Fred Merryfield Design Award from the ASEE. He conducts dynamical systems research at the intersection of engineering, math and physics. This work involves studying a wide range of complex systems that are governed by differential equations and learning the behavior of those systems through theory and experiments. His research efforts further seek to make original and substantial contributions to the development and design of existing or novel devices or methodologies that capitalize on system nonlinearities for improved system understanding and performance. Funding Information: This work was partially supported by a NASA SBIR Phase I contract, order no. NNX12CE97P, awarded to CU Aerospace, L.L.C. We gratefully acknowledge Naira Hovakimyan, Evgeny Kharisov, and Enric Xargay for instructing the authors on the overall control methodology, and for their feedback and contributions to an earlier technical report on this topic. Publisher Copyright: {\textcopyright} 2014 Elsevier B.V. All rights reserved.",
year = "2015",
month = feb,
day = "1",
doi = "10.1016/j.robot.2014.10.009",
language = "English (US)",
volume = "64",
pages = "84--99",
journal = "Robotics and Autonomous Systems",
issn = "0921-8890",
publisher = "Elsevier",
}