Model Identification for Robot

Manipulators using Regressor-Free

Adaptive Control

Rameez Hayat1,2

Martin Buss1,2

1 Institute for Advanced Study

Technical University of Munich

2 Chair of Automatic Control Engineering

Technical University of Munich

UKACC International Conference on Control, 09/01/2016

www.lsr.ei.tum.de

Presentation Overview

Introduction
Related Work
Contribution
Results
Conclusion

Introduction

Related

Contribution

Results

Conclusion

Feedback Linearization
Manipulator Dynamics:
M (q)
q +C(q, q)
q+G(q)+F

q = .

Introduction

Related

Contribution

Results

Conclusion

Feedback Linearization
Manipulator Dynamics:
M (q)
q +C(q, q)
q+G(q)+F

q = .
Let:
= M (q)
a + N (q, q)
+ F q,

where, a
= qd K v e K p e,
N (q, q)
= C(q, q)
q+G(q)

Introduction

Related

Contribution

Results

Conclusion

Feedback Linearization
Manipulator Dynamics:
M (q)
q +C(q, q)
q+G(q)+F

q = .
Let:
= M (q)
a + N (q, q)
+ F q,

where, a
= qd K v e K p e,
N (q, q)
= C(q, q)
q+G(q)

Introduction

Related

Contribution

Results

Conclusion

Feedback Linearization
Manipulator Dynamics:
M (q)
q +C(q, q)
q+G(q)+F

q = .
Let:
= M (q)
a + N (q, q)
+ F q,

where, a
= qd K v e K p e,
N (q, q)
= C(q, q)
q+G(q)

PD
e
+ K v e + K p e = 0.

Introduction

Related

Contribution

Results

Conclusion

Motivation
System Dynamics estimation:
(
+ F q,
=M
q d K v e K p e) + N

Introduction

Related

Contribution

Results

Conclusion

Motivation
System Dynamics estimation:
(
+ F q,
=M
q d K v e K p e) + N

M (q)
q + C(q, q)
q + G(q) + F q =

Introduction

Related

Contribution

Results

Conclusion

Motivation
System Dynamics estimation:
(
+ F q,
=M
q d K v e K p e) + N

M (q)
q + C(q, q)
q + G(q) + F q =
1 (M
q + N
+ F q),
e + K v e + K p e = M

=M
M, N
=N
N and F = F F .
where, M

Introduction

Related

Contribution

Results

Conclusion

Motivation
System Dynamics estimation:
(
+ F q,
=M
q d K v e K p e) + N

1 (M
q + N
+ F q),
e + K v e + K p e = M

=M
M, N
=N
N and F = F F .
where, M
Goal
Design an adaptive controller that removes any mismatch to
achieve better feedback linearization.

Introduction

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Contribution

Results

Conclusion

Regressor-based adaptive controller

[Siciliano et al.]
Let: Y (q, q,
q)p = M (q)
q + N (q, q)
+ F q.

1 Y (q, q,
e + K v e + K p e = M
q)
p,

Introduction

Related

Contribution

Results

Conclusion

Regressor-based adaptive controller

[Siciliano et al.]
Let: Y (q, q,
q)p = M (q)
q + N (q, q)
+ F q.

1 Y (q, q,
e + K v e + K p e = M
q)
p,

State space representation:

x = Ax BM 1 Y (q, q,
q)p,



 
0
In
0
2n2n
A=
R
,B =
R2nn
K p K v
In
and
x = [eT e T ]T

Introduction

Related

Contribution

Results

Conclusion

Regressor-based adaptive controller

[Siciliano et al.]
1
1

V (x, p)
= xT P 1 x + pT P 2 p,
2
2

Introduction

Related

Contribution

Results

Conclusion

Regressor-based adaptive controller

[Siciliano et al.]
1
1

V (x, p)
= xT P 1 x + pT P 2 p,
2
2
If we consider:
1 Y )T B T P 1 x.
p = P 1
2 (M

Introduction

Related

Contribution

Results

Conclusion

Regressor-based adaptive controller

[Siciliano et al.]
1
1

V (x, p)
= xT P 1 x + pT P 2 p,
2
2
If we consider:
1 Y )T B T P 1 x.
p = P 1
2 (M
Then

1
V = xT Qx 6 0
2

Introduction

Related

Contribution

Results

Conclusion

Regressor-based adaptive controller

[Siciliano et al.]
1
1

V (x, p)
= xT P 1 x + pT P 2 p,
2
2
If we consider:
1 Y )T B T P 1 x.
p = P 1
2 (M
Then

1
V = xT Qx 6 0
2

Drawbacks
 Require joint acceleration
 Calculating inverse of Inertia Matrix
Introduction

Related

Contribution

Results

Conclusion

Slotine and Lis adaptive controller

Slotine et al. [1987]
Slotine et al. reconfigured the system dynamics by considering
s = e + e, where > 0 Rnn . Using this new formulation:
M s + N + F s + M v + F v = ,
v = q d e.

Introduction

Related

Contribution

Results

Conclusion

Slotine and Lis adaptive controller

Slotine et al. [1987]
Slotine et al. reconfigured the system dynamics by considering
s = e + e, where > 0 Rnn . Using this new formulation:
M s + N + F s + M v + F v = ,
v = q d e. Considering:
v + F v + N
K D s = Y (q, q,
=M
v, v)
p,

where K D is a positive definite matrix.

Introduction

Related

Contribution

Results

Conclusion

Slotine and Lis adaptive controller

Slotine et al. [1987]
Slotine et al. reconfigured the system dynamics by considering
s = e + e, where > 0 Rnn . Using this new formulation:
M s + N + F s + M v + F v = ,
v = q d e. Considering:
v + F v + N
K D s = Y (q, q,
=M
v, v)
p,

where K D is a positive definite matrix. Following the same steps

as before:
T
p = P 1
v, v)s.

2 Y (q, q,

Introduction

Related

Contribution

Results

Conclusion

Regressor-free adaptive controller

Kai et al. [2013]
M 1 Y (q, q,
q)p = W T Z,
where W is a weighting matrix and Z is a matrix of basis
functions.
1
1
T QW
)
V = xT P x + tr(W
2
2
The control law would be:
= Q1 ZxT P B.
W

Introduction

Related

Contribution

Results

Conclusion

Regressor-free adaptive controller

Kai et al. [2013]
M 1 Y (q, q,
q)p = W T Z,
where W is a weighting matrix and Z is a matrix of basis
functions.
1
1
T QW
)
V = xT P x + tr(W
2
2
The control law would be:
= Q1 ZxT P B.
W
Then

1
V = xT Qx 6 0
2

Introduction

Related

Contribution

Results

Conclusion

Proposed Adaptive Technique

Let = M (q)
q + N (q, q)
+ F q q + a , where a represents
disturbances and unmodeled parameters. Then:
+ qd K v e K p e.
=

Introduction

Related

Contribution

Results

Conclusion

Proposed Adaptive Technique

Let = M (q)
q + N (q, q)
+ F q q + a , where a represents
disturbances and unmodeled parameters. Then:
+ qd K v e K p e.
=
Using the above equation:
,
e + K v e + K p e =

Introduction

Related

Contribution

Results

Conclusion

Proposed Adaptive Technique

Let = M (q)
q + N (q, q)
+ F q q + a , where a represents
disturbances and unmodeled parameters. Then:
+ qd K v e K p e.
=
Using the above equation:
,
e + K v e + K p e =
converge to and thus e 0, we introduce the
To make
following differential equation:
m
X
i=0

ai

di
= f (e, e),

dti

is
and am = 1
where the system mismatch
Introduction

Related

Contribution

Results

Conclusion

Proposed Adaptive Technique

at every time instance, is
To evaluate the value of
approximated by a polynomial of order m 1 using Taylor series.
The update law becomes:
m1

X di X

dm
ai i + f (e, e),
=

dtm
dt
i=0

where X = e + K v e + K p e. Assuming Kx = f (e, e),

if
T
1
K = P 2 B P 1 , then:
Convergence
T Q2
6 0.
V = xT Q1 x

Introduction

Related

Contribution

Results

Conclusion

10

Parameter Identification

Using least squares:

Y p = B,
p = (Y T Y)1 Y T B,
where,
Y = [Y T1 Y T2 ... Y TN ]T ,
B = [ T1 T2 ... TN ]T ,
N >> 0 is the total number of sampled data points.

Introduction

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Contribution

Results

Conclusion

11

Manipulator Dynamics
A 2-Degree-of-Freedom robot manipulator is considered for
simulation as well as experiments.
Manipulator dynamics:



m11 + m11 cos q2 m12 + m12 cos q2

,
M=

m21 + m21 cos q2

m22
N=

n11 sin q2 q22 n12 sin q2 q1 q2

n21 sin q2 q12
y0


f11 0
F =
0 f22
y1

,
l2
y2

Related

q1

l1
x1
q1
mass m1 , m2

Introduction

x2

Contribution

x0

Results

Conclusion

12

Experimental Results
0.45

Trajectory
Regressor
Slotine/Li
FAT-Based
Proposed

0.4
0.35
0.3

y[m]

0.25
0.2

0.15
0.1
0.05
0

0.1

0.2

0.3

0.4

0.5

x[m]
Experimental results: position of end effectors starting from 0.5b
x + 0b
ym

Introduction

Related

Contribution

Results

Conclusion

13

e(1)
e(2)

-0.5

-20

Y1 (q, q,
v, v)
p

0.25

0.5

0.75

Time [s]

Y1 (q, q,
v, v)p

1.25

20

10
0

-10
Y2 (q, q,
v, v)
p

0.25

0.5

0.75

Time [s]

Y2 (q, q,
v, v)p

Second joint: Y2 is the 2nd row of

regressor matrix

-1
0

0.25

0.5

0.75

Time [s]

1.25

Error in joint angles for the first

rotation.

First joint: Y1 is the 1st row of

regressor matrix
Torque [Nm]

0.5

-20

Joint error [rad]

20

1.25

Joint error [rad/s]

Torque [Nm]

Simulation results

10

e(1)

e(2)

5
0
-5

-10
0

0.25

0.5

0.75

Time [s]

1.25

Derivative of error in joint angles for

the first rotation.

Results of Slotine and Lis adaptive control for = 4 rad/s, the

estimated model dynamics do not follow the original model.
Introduction

Related

Contribution

Results

Conclusion

14

10

Joint error [rad]

Torque [Nm]

Simulation results
1

e(1)
e(2)

0.5

-0.5

-10

(1) + q(1)

0.25

0.5

0.75

Time [s]

(1)
+ q(1)

1.25

-1
0

5
0
-5
(2) + q(2)

0.5

0.75

Time [s]

(2)
+ q(2)

1.25

Joint error [rad/s]

Torque [Nm]

10

0.25

0.5

0.75

Time [s]

1.25

Error in joint angles.

First joint angle

-10

0.25

10

e(1)

e(2)

5
0
-5

-10
0

0.25

0.5

0.75

Time [s]

1.25

Derivative of error in joint angles.

Second joint angle

Results of proposed adaptive control for = 4 rad/s. Taking a

very low time constant for the update law will confirm the
modeling error to approach zero.
Introduction

Related

Contribution

Results

Conclusion

15

Parameter estimation
Calculated, simulation and experimental estimation of parameters for 2-DOF
manipulator.

Var.
m11

m11
m12

m12
n11
n12
f11
m21

m21
m22
n21
f22

Introduction

Related

Cal.
0.442
0.028
0.009
0.014
0.014
0.030
0.001
0.009
0.014
0.222
0.014
0.001

Sim.
0.442
0.027
0.008
0.015
0.014
0.028
0.004
0.009
0.015
0.222
0.013
0.006

Contribution

Exp.
0.590
0.027
0.006
0.010
0.216
0.041
0.001
0.005
0.009
0.282
0.282
0.001

Results

Conclusion

16

Conclusion







Design of an adaptive controller that requires less tuning

parameters
Removal of mismatch during feedback linearization
Parameters identification for a manipulator
No prior knowledge required about system parameters
Low computational cost
No Prior knowledge about the system is required

Introduction

Related

Contribution

Results

Conclusion

17

References

[1] B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics:

modelling, planning and control. Springer Science and
Business Media, 2009.
[2] J. J. Slotine and W. Li, On the adaptive control of robot
manipulators, The international journal of Robotics
Research, vol. 6, no. 3, pp. 4959, 1987.
[3] C. Y. Kai and A. C. Huang, A regressor-free adaptive
controller for robot manipulators without Slotine and Lis
modification, Robotica, vol. 31, no. 07, pp. 10511058,
2013.

Introduction

Related

Contribution

Results

Conclusion

18