A Novel Nonlinear Super-twisting L 1 Adaptive Control for PKMs: From Design to Real-time Experiments - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2024

A Novel Nonlinear Super-twisting L 1 Adaptive Control for PKMs: From Design to Real-time Experiments

Johann Lamaury
  • Function : Author
  • PersonId : 1146429
Thierry Roux
  • Function : Author

Abstract

This paper deals with robust-adaptive control of Parallel Kinematic Manipulators (PKMs), where a novel supertwisting L1 adaptive controller is proposed. The objective is to increase the robustness towards uncertainties as well as external disturbances of the standard L1 adaptive controller, by incorporating a robust super-twisting term. The proposed controller as well as the original L1 adaptive controller, are detailed for robot manipulators. Next, the experimental testbed is described, along with some implementation issues on FOEHN parallel robot. The proposed control scheme is compared with some existing literature controllers in two experimental scenarios, highlighting notable improvements in tracking performance reaching up to 75% with respect to the standard L1 adaptive controller.
Fichier principal
Vignette du fichier
A_Novel_Nonlinear_Super_twisting_L1_Adaptive_Control_for_PKMs__From_Design_to_Real_time_Experiments.pdf (7.02 Mo) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

lirmm-04577906 , version 1 (16-05-2024)

Identifiers

  • HAL Id : lirmm-04577906 , version 1

Cite

Youcef Mohamed Fitas, Ahmed Chemori, Johann Lamaury, Thierry Roux. A Novel Nonlinear Super-twisting L 1 Adaptive Control for PKMs: From Design to Real-time Experiments. ECC 2024 - 22nd European Control Conference, Jun 2024, Stockholm, Sweden. ⟨lirmm-04577906⟩
0 View
0 Download

Share

Gmail Mastodon Facebook X LinkedIn More