Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator
In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of t...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Izadbakhsh, Alireza [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2020transfer abstract |
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| Schlagwörter: |
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| Umfang: |
11 |
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| Übergeordnetes Werk: |
Enthalten in: Selective extraction, structural characterisation and antifungal activity assessment of napins from an industrial rapeseed meal - 2012, the science and engineering of measurement and automation, Amsterdam [u.a.] |
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| Übergeordnetes Werk: |
volume:106 ; year:2020 ; pages:1-11 ; extent:11 |
| Links: |
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| DOI / URN: |
10.1016/j.isatra.2020.06.017 |
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| 245 | 1 | 0 | |a Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator |
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| 520 | |a In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. | ||
| 520 | |a In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. | ||
| 650 | 7 | |a Impedance control |2 Elsevier | |
| 650 | 7 | |a Universal approximation theorem |2 Elsevier | |
| 650 | 7 | |a Robust adaptive control |2 Elsevier | |
| 650 | 7 | |a Szász–Mirakyan operator |2 Elsevier | |
| 650 | 7 | |a Bernstein polynomial |2 Elsevier | |
| 700 | 1 | |a Khorashadizadeh, Saeed |4 oth | |
| 700 | 1 | |a Ghandali, Samira |4 oth | |
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10.1016/j.isatra.2020.06.017 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001222.pica (DE-627)ELV05226033X (ELSEVIER)S0019-0578(20)30264-0 DE-627 ger DE-627 rakwb eng 540 VZ 660 VZ 540 VZ 35.00 bkl Izadbakhsh, Alireza verfasserin aut Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator 2020transfer abstract 11 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. Impedance control Elsevier Universal approximation theorem Elsevier Robust adaptive control Elsevier Szász–Mirakyan operator Elsevier Bernstein polynomial Elsevier Khorashadizadeh, Saeed oth Ghandali, Samira oth Enthalten in Elsevier Selective extraction, structural characterisation and antifungal activity assessment of napins from an industrial rapeseed meal 2012 the science and engineering of measurement and automation Amsterdam [u.a.] (DE-627)ELV011067004 volume:106 year:2020 pages:1-11 extent:11 https://doi.org/10.1016/j.isatra.2020.06.017 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA GBV_ILN_22 GBV_ILN_40 GBV_ILN_105 35.00 Chemie: Allgemeines VZ AR 106 2020 1-11 11 |
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10.1016/j.isatra.2020.06.017 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001222.pica (DE-627)ELV05226033X (ELSEVIER)S0019-0578(20)30264-0 DE-627 ger DE-627 rakwb eng 540 VZ 660 VZ 540 VZ 35.00 bkl Izadbakhsh, Alireza verfasserin aut Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator 2020transfer abstract 11 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. Impedance control Elsevier Universal approximation theorem Elsevier Robust adaptive control Elsevier Szász–Mirakyan operator Elsevier Bernstein polynomial Elsevier Khorashadizadeh, Saeed oth Ghandali, Samira oth Enthalten in Elsevier Selective extraction, structural characterisation and antifungal activity assessment of napins from an industrial rapeseed meal 2012 the science and engineering of measurement and automation Amsterdam [u.a.] (DE-627)ELV011067004 volume:106 year:2020 pages:1-11 extent:11 https://doi.org/10.1016/j.isatra.2020.06.017 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA GBV_ILN_22 GBV_ILN_40 GBV_ILN_105 35.00 Chemie: Allgemeines VZ AR 106 2020 1-11 11 |
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10.1016/j.isatra.2020.06.017 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001222.pica (DE-627)ELV05226033X (ELSEVIER)S0019-0578(20)30264-0 DE-627 ger DE-627 rakwb eng 540 VZ 660 VZ 540 VZ 35.00 bkl Izadbakhsh, Alireza verfasserin aut Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator 2020transfer abstract 11 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. Impedance control Elsevier Universal approximation theorem Elsevier Robust adaptive control Elsevier Szász–Mirakyan operator Elsevier Bernstein polynomial Elsevier Khorashadizadeh, Saeed oth Ghandali, Samira oth Enthalten in Elsevier Selective extraction, structural characterisation and antifungal activity assessment of napins from an industrial rapeseed meal 2012 the science and engineering of measurement and automation Amsterdam [u.a.] (DE-627)ELV011067004 volume:106 year:2020 pages:1-11 extent:11 https://doi.org/10.1016/j.isatra.2020.06.017 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA GBV_ILN_22 GBV_ILN_40 GBV_ILN_105 35.00 Chemie: Allgemeines VZ AR 106 2020 1-11 11 |
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10.1016/j.isatra.2020.06.017 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001222.pica (DE-627)ELV05226033X (ELSEVIER)S0019-0578(20)30264-0 DE-627 ger DE-627 rakwb eng 540 VZ 660 VZ 540 VZ 35.00 bkl Izadbakhsh, Alireza verfasserin aut Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator 2020transfer abstract 11 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. Impedance control Elsevier Universal approximation theorem Elsevier Robust adaptive control Elsevier Szász–Mirakyan operator Elsevier Bernstein polynomial Elsevier Khorashadizadeh, Saeed oth Ghandali, Samira oth Enthalten in Elsevier Selective extraction, structural characterisation and antifungal activity assessment of napins from an industrial rapeseed meal 2012 the science and engineering of measurement and automation Amsterdam [u.a.] (DE-627)ELV011067004 volume:106 year:2020 pages:1-11 extent:11 https://doi.org/10.1016/j.isatra.2020.06.017 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA GBV_ILN_22 GBV_ILN_40 GBV_ILN_105 35.00 Chemie: Allgemeines VZ AR 106 2020 1-11 11 |
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10.1016/j.isatra.2020.06.017 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001222.pica (DE-627)ELV05226033X (ELSEVIER)S0019-0578(20)30264-0 DE-627 ger DE-627 rakwb eng 540 VZ 660 VZ 540 VZ 35.00 bkl Izadbakhsh, Alireza verfasserin aut Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator 2020transfer abstract 11 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. Impedance control Elsevier Universal approximation theorem Elsevier Robust adaptive control Elsevier Szász–Mirakyan operator Elsevier Bernstein polynomial Elsevier Khorashadizadeh, Saeed oth Ghandali, Samira oth Enthalten in Elsevier Selective extraction, structural characterisation and antifungal activity assessment of napins from an industrial rapeseed meal 2012 the science and engineering of measurement and automation Amsterdam [u.a.] (DE-627)ELV011067004 volume:106 year:2020 pages:1-11 extent:11 https://doi.org/10.1016/j.isatra.2020.06.017 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA GBV_ILN_22 GBV_ILN_40 GBV_ILN_105 35.00 Chemie: Allgemeines VZ AR 106 2020 1-11 11 |
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Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator |
| abstract |
In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. |
| abstractGer |
In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. |
| abstract_unstemmed |
In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász–Mirakyan operator as Universal approximator. Although the Szász–Mirakyan operator has been extensively used for dealing with approximation of nonlinear functions, the main novelty of this paper is presenting a completely different application of Szász–Mirakyan operator. Since in robust or adaptive control, the nonlinear function which should be approximated is unknown. In fact, the Lyapunov theorem must be used to tune its adjustable parameters. In accordance with the universal approximation theorem, Szász–Mirakyan operator which is an extended version of the Bernstein polynomial is able to approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed in this paper. It is shown that, using Szász–Mirakyan operator as basis functions and tuning the polynomial coefficients by the adaptive laws calculated in the stability analysis, uniformly ultimately bounded stability can be assured. The transient performance of the controller has been also analyzed. Numerical simulations on an electrically driven manipulator are provided. Simulation results verify that the role of Szász–Mirakyan operator in uncertainty compensation and enhancing the tracking error is undeniable. |
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Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator |
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