Volume 07,Issue 01

â„’1 Adaptive Controller Design for SRS Robots in the Presence of Data Loss and Uncertainty

Authors

Hossein Ahmadian, Vahid Kamrani, Afsaneh Davari, Sajjad Shahghoian Ghahfarokhy

Abstract
In this paper, the â„’1 Adaptive Control, Model Reference Adaptive Control (MRAC) and Lyapunov-based control have been used to manage the position of the arm of the Shoulder Rehabilitation Robot (SRS) with three degrees of freedom. In this way, dynamic and kinematic equations of the robot have been used, which are generally nonlinear, and the state-space model of order 6 has been assigned. In this paper, â„’1 adaptive control law includes several basic elements such as state feedback for placement of robot poles to the position of desired poles and the role of system stability, feedback compensator to eliminate steady-state error, the parameter matching for system compensation in the result of state estimation error and parameter estimation error and first-order filters with steady-state gain 1 to increase system robustness, system stability margin and as a result, the bandwidth of the system is increasing. The parameter matching algorithm playing the role of estimating the nonlinear vector of the rehabilitation robot system uses the projection performance, which is a powerful tool to estimate the system parameter with a high nonlinear degree. The obtained results show the appropriate performance, stability and robustness of the â„’1 adaptive control method compared to the MRAC and Lyapunov-based method and even other adaptive methods.

Keyword: â„’1 Adaptive Control, Lyapunov Based Control, Model Reference Adaptive Control (MRAC), Projection Performance, Shoulder Rehabilitation System (SRS).

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