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Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments

Alex M. C. Smith, Chenguang Yang, Hongbin Ma, Phil Culverhouse, Angelo Cangelosi, Etienne Burdet

PLOS ONE, Volume: 10, Issue: 6, Start page: e0129281

Swansea University Author: Chenguang Yang

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Abstract

In this paper we present a hybrid control scheme, combining the advantages of task-spaceand joint-space control. The controller is based on a human-like adaptive design, which minimisesboth control effort and tracking error. Our novel hybrid adaptive controller has beentested in extensive simulation...

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Published in: PLOS ONE
ISSN: 1932-6203
Published: 2015
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa27020
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Abstract: In this paper we present a hybrid control scheme, combining the advantages of task-spaceand joint-space control. The controller is based on a human-like adaptive design, which minimisesboth control effort and tracking error. Our novel hybrid adaptive controller has beentested in extensive simulations, in a scenario where a Baxter robot manipulator is affectedby external disturbances in the form of interaction with the environment and tool-like end-effectorperturbations. The results demonstrated improved performance in the hybrid controllerover both of its component parts. In addition, we introduce a novel method for onlineadaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledgefrom the experimenter. This mechanism of meta-learning induces further improvementin performance and avoids the need for tuning through trial testing.
College: College of Engineering
Issue: 6
Start Page: e0129281