Computationally efficient predictive adaptive control for robotic operation in dynamic environments and task domains

R Vaidyanathan, TS Prince, M Modarreszadeh, L Gupta, F Lisy

Research output: Contribution to journalArticle (Academic Journal)

Abstract

This paper presents a new adaptive predictive control algorithm and its refinement for robotic utility. The controller addresses the need for practical, computationally efficient, robust real-time adaptive control for multivariable robotic systems working in challenging industrial environments. It exploits a special matrix representation to obtain substantial reductions in the computational expense relative to standard methods. Controller performance is established for a simple robotic manipulator directing motion through sharply changing loading conditions and on an industrial robot loading heavy shells within the weapons magazine of a naval vessel. The new controller demonstrates the ability to adapt to varying actuator performance and rapidly changing sea states for which a classic proportional–integral–derivative controller cannot adjust. Control commands and parameter adjustments are executed in time frames suitable for real-time use, even on platforms and in environments with limited computational resources. Future work involves the implementation and testing of the controller on a prototype robot during facsimile naval operations. This work may serve as a foundation to address control issues for robots working in uncertain dynamic environments with varying task domains through the implementation of computationally efficient predictive adaptive control.
Translated title of the contributionComputationally efficient predictive adaptive control for robotic operation in dynamic environments and task domains
Original languageEnglish
Pages (from-to)1695 - 1714
Number of pages19
JournalProceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture
Volume222/12
DOIs
Publication statusPublished - Sep 2008

Bibliographical note

Publisher: Professional Engineering Publishing

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