Model free adaptive control of the under-actuated robot manipulator with the chaotic dynamics

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dc.authoridTutsoy, Onder/0000-0001-6385-3025
dc.authoridErol Barkana, Duygun/0000-0002-8929-0459
dc.contributor.authorTutsoy, Önder
dc.contributor.authorBarkana, Duygun Erol
dc.date.accessioned2025-01-06T17:36:57Z
dc.date.available2025-01-06T17:36:57Z
dc.date.issued2021
dc.description.abstractDevelopment of practical control approaches for the under-actuated chaotic systems such as the robot manipulators are challenging due to the unpredictable character of the chaotic dynamics, and the inevitable real-time application properties like delays, saturations, and uncertainties In this paper, we propose a model free digital adaptive control approach, which considers the time delay of the control signal, actuator saturation, and non-parametric uncertainties, for an under-actuated manipulator. We also develop a chaos control to learn the unbiased and smooth digital control policy inside the chaotic regions of the continuous time under-actuated manipulator. We perform real-time experiments in a dynamic environment with the proposed digital adaptive control. Then we compare the results of the learning and control with and without chaos control. We observe that the proposed model free adaptive control approach can accurately learn both the long-term predictor and unbiased control policy even in the chaotic regions of the under-actuated robot manipulator. (c) 2021 ISA. Published by Elsevier Ltd. All rights reserved.
dc.identifier.doi10.1016/j.isatra.2021.02.006
dc.identifier.endpage115
dc.identifier.issn0019-0578
dc.identifier.issn1879-2022
dc.identifier.pmid33610316
dc.identifier.scopus2-s2.0-85101306744
dc.identifier.scopusqualityQ1
dc.identifier.startpage106
dc.identifier.urihttps://doi.org/10.1016/j.isatra.2021.02.006
dc.identifier.urihttps://hdl.handle.net/20.500.14669/2048
dc.identifier.volume118
dc.identifier.wosWOS:000711511000010
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakPubMed
dc.language.isoen
dc.publisherElsevier Science Inc
dc.relation.ispartofIsa Transactions
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_20241211
dc.subjectChaotic dynamics
dc.subjectControl policy learning
dc.subjectControl signal delay
dc.subjectModel free control
dc.subjectNon-parametric uncertainty
dc.subjectUnder-actuated manipulator
dc.titleModel free adaptive control of the under-actuated robot manipulator with the chaotic dynamics
dc.typeArticle

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