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arXiv · 2403.00970

Nussbaum Function Based Approach for Tracking Control of Robot Manipulators

Hamed Rahimi Nohooji·Holger Voos
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Abstract

This paper introduces a novel Nussbaum function-based PID control for robotic manipulators. The integration of the Nussbaum function into the PID framework provides a solution with a simple structure that effectively tackles the challenge of unknown control directions. Stability is achieved through a combination of neural network-based estimation and Lyapunov analysis, facilitating automatic gain adjustment without the need for system dynamics. Our approach offers a gain determination with minimum parameter requirements, significantly reducing the complexity and enhancing the efficiency of robotic manipulator control. The paper guarantees that all signals within the closed-loop system remain bounded. Lastly, numerical simulations validate the theoretical framework, confirming the effectiveness of the proposed control strategy in enhancing robotic manipulator control.

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BibTeXRIS

Hamed Rahimi Nohooji, Holger Voos. 2024-03-01. Nussbaum Function Based Approach for Tracking Control of Robot Manipulators. https://arxiv.org/abs/2403.00970

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