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Robust adaptive control for robot manipulators: Support vector regression-based command filtered adaptive backstepping approach

Published online by Cambridge University Press:  23 November 2017

Joseph Jean-Baptiste Mvogo Ahanda ,
Jean Bosco Mbede ,
Achille Melingui  and
Bernard Essimbi
Joseph Jean-Baptiste Mvogo Ahanda*
Affiliation:
Department of Physics, University of Yaounde I, Yaounde, Cameroon. E-mail: bessimb@yahoo.fr
Jean Bosco Mbede
Affiliation:
Electrical and Telecommunications Engineering Department of Ecole Nationale Superieure Polytechnique, University of Yaounde I, Yaounde, Cameroon. E-mail: mbede@neuf.fr
Achille Melingui
Affiliation:
Electrical and Telecommunications Engineering Department of Ecole Nationale Superieure Polytechnique, University of Yaounde I, Yaounde, Cameroon. E-mail: mbede@neuf.fr
Bernard Essimbi
Affiliation:
Department of Physics, University of Yaounde I, Yaounde, Cameroon. E-mail: bessimb@yahoo.fr
*
*Corresponding author. E-mail: josephjeanmvogo@yahoo.fr
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Summary

This study derives a robust adaptive control of electrically driven robot manipulators using a support vector regression (SVR)-based command filtered adaptive backstepping approach. The robot system is supposed to be subject to model uncertainties, neglected dynamics, and external disturbances. The command filtered backstepping algorithm is extended to the case of the robot manipulators. A robust term is added to the common adaptive SVR algorithm, to mitigate the effects of the SVR approximation error in the path tracking performance. The stability analysis of the closed loop system using the Lyapunov theory permits to highlight adaptation laws and to prove that all the signals in the closed loop system are bounded. Simulations show the effectiveness of the proposed control strategy.

Keywords

Robust controlAdaptive controlBackstepping controlCommand filtered controlSupport vector regressionRobot manipulator
Type
Articles
Information
Robotica , Volume 36 , Issue 4 , April 2018 , pp. 516 - 534
Copyright
Copyright © Cambridge University Press 2017 

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