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J. Son(손정우),H. Kang(강현아),M. Jin(김무림),S. H. Kang(강상훈) Korean Society for Precision Engineering 2021 한국정밀공학회 학술발표대회 논문집 Vol.2021 No.11월
This paper proposes an adaptive Proportional-integral-differential (PID) control robust against significant changes in robot and external dynamics. From the equivalent relationship between the robust Time-delay Control (TDC) and PID in digital domain, the relationship between P-I-D gains were obtained. By utilizing modified Nussbaum class function, the proposed control achieves high robustness against significant external and internal dynamics changes by adapting a gain representing the known part of inertia in real-time. Thanks to the Time-delay Estimation of TDC, nonlinearities/uncertainties are compensated for without the robot dynamics. To prevent drifting of the gain representing inertia estimate due to quantization error, forgetting factor was adopted to attenuate past information in the adaptation process. Experiments with the SCARA (Selective Compliance Assembly Robot Arm) showed that the proposed control could adaptively change its gain even with large changes in payload (5 kg), and external spring force (Stiffness: 316 N/m). The error with the proposed PID was smaller even with the significant payload and spring force compared to that with fixed-gain PID. The gains of fixed-gain PID tuned with payload made the robot without payload unstable. These indicate that, against significant internal and external dynamics changes, the proposed adaptive PID control is robust and can guarantee.