Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments

Authors

AMC Smith
C Yang
H Ma
et al

Abstract

In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.

DOI

10.1371/journal.pone.0129281

Publication Date

2015-06-01

Publication Title

PLoS One

Volume

10

Issue

6

Publisher

Public Library of Science

ISSN

1932-6203

Embargo Period

2024-11-22

Recommended Citation

Smith, A., Yang, C., Ma, H., & et al. (2015) 'Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments', PLoS One, 10(6). Public Library of Science: Available at: 10.1371/journal.pone.0129281