ℒ1 adaptive control of parallel kinematic manipulators: Design and real-time experiments

Moussab Bennehar; Ahmed Chemori; Francois Pierrot

ICRA 2015poster15 citations

ℒ1 adaptive control of parallel kinematic manipulators: Design and real-time experiments

Moussab Bennehar, Ahmed Chemori, Francois Pierrot

Abstract

In this paper, the recently developed ℒ1 adaptive control strategy is experimentally validated for the first time on a parallel kinematic manipulator. The ℒ1 adaptive controller is known for its decoupled estimation and control loops which enables fast adaptation while guaranteeing robustness of the closed-loop system. The control scheme is experimentally implemented on a 4-DOFs parallel kinematic manipulator. Based on the obtained experimental results, a comparative study shows that the proposed ℒ1 adaptive controller outperforms the PD controller in terms of tracking performance thanks to the compensation of the nonlinearities in the adaptive controller.

BibTeX

@inproceedings{icra2015_1adaptivecontrol,
  title = {ℒ1 adaptive control of parallel kinematic manipulators: Design and real-time experiments},
  author = {Moussab Bennehar and Ahmed Chemori and Francois Pierrot},
  booktitle = {ICRA 2015},
  year = {2015}
}