DESIGN OF A TWO-LINK ROBOT MANIPULATOR ADAPTIVE CONTROL SYSTEM BY THE GAIN SCHEDULING METHOD

摘要

The application areas of robot manipulators are increasingly growing year by year. Rehabilitation exoskeletons and upper limb prostheses are special cases of robot manipulators. Such systems, being nonlinear, multidimensional, and dynamic systems, have parametric uncertainties. All this becomes a challenge in the design process of the control system. One of the advanced technologies in this field is adaptive control, which is an important and interesting area of scientific and industrial research. The nonlinear control system of the two-linked robot manipulator was considered in the work. In this case, classical control methods become inapplicable and there is a need to develop and apply other control methods. Using the gain scheduling method, a group of PID controllers are designed to ensure the stability of the system at various operating points. The non-linearity of the system is compensated by the gain scheduling method and the only problem that remained is the uncertainties of the system depending on the weight of the operator. A model reference adaptive controller (MRAC) was designed and augmented with the gain scheduling method for eliminating uncertainties. Simulation is done in the MATLAB Simulink environment. A comparative performance has been quantified with different adaptation gains for the upper limb prosthesis system. The obtained results show the viability of the proposed control method.