26th Iranian Conference on Electrical Engineering (ICEE2018)

Adaptive Control of Robot Manipulators Using the

Voltage Control Strategy
Amir Kardgar
Department of Electrical and Robotic
Engineering
Shahrood University of Technology
Shahrood, Iran, 3619995161
Email: amirkardgar@gmail.com
Mohammad Mehdi Fateh
Department of Electrical and Robotic
Engineering
Shahrood University of Technology
Shahrood, Iran, 3619995161
Email: mmfateh@shahroodut.ac.ir
Seyed Mohammad Ahmadi
Department of Electrical and Robotic
Engineering
Shahrood University of Technology
Shahrood, Iran, 3619995161
Email: s.m.ahmadi1365@gmail.com

Abstract—This paper develops a simple and novel adaptive control
system for the tracking control of robot manipulators. The
adaptive control system is free from the dynamical model of robot
manipulator and also it is based on the voltage control strategy
that is different from common torque control strategy. In the
proposed method, both parametric uncertainty and un-modelled
dynamics in the form of a lumped uncertainty are estimated by an
adaptive mechanism. Using the stability analysis, the asymptotic
convergence of tracking error to zero as well as the boundedness
of all system states are proven. The efficiency of the proposed
control approach is shown by simulation results implemented in
an articulated robot manipulator driven by permanent magnet dc
motors.
Keywords-Adaptive control system; Tracking control; Robot
manipulator; Voltage control strategy; Asymptotic convergence.
I. INTRODUCTION
Robot manipulators are controllable mechanical systems
that use sensors for guidance of an end-effector from
programmed motion in a workspace to the manipulation of
physical objects [1]. An increasingly vital role of robot
manipulators in industry is undeniable in the last decades.
Designing a high performance controller is extremely important
for robotic systems which are nonlinear, high coupling, multi-
input/multi-output, and uncertain systems [2].
The majority of control methods are based on the torque
control strategy for robot manipulators in the literature such as
PID controller [3], sliding mode control [4], backstepping
control [5], fuzzy control [6], neural network control [7] and
adaptive control [8-10]. It is noted that controllers which are
designed based on the torque control strategy have lots of
problems since motor dynamics are neglected and complexity
of robot dynamics are employed in the control structure. To
tackle this problem, the integrated robot and motor dynamics
are considered in order to propose the control schemes [11-13].
Also, the voltage control strategy [14] has been proposed for
robot manipulators. In this scheme, the controller is
independent of the complexity of robot dynamics since the
motor dynamics are utilized instead of manipulator dynamics.
In addition, motor voltages are considered as the inputs of
system.
The robotic systems have faced uncertainty including
structural and unstructural categories. Structural uncertainty is
related to the system parameters. An adaptive control is one of
the most important method to overcome parametric uncertainty.
Adaptive control approaches can be used whether system
parameters are constant or they have small changes yet
unknown.
Recently, the function approximation techniques (FAT)
such as Taylor series system [13,15-16], Fourier series
expansion [17] and Legendre polynomials [18] are employed in
the approximation of lumped uncertainty for the robust control
of robot manipulators. Compared with the other FAT-based
controllers, Adaptive Taylor series control systems require less
tuned parameters which led the controller to be implemented
easier and less computational.
This paper presents a novel adaptive control of electrically
driven robot manipulators. We utilize the voltage control
strategy in order to design an adaptive control approach. In this
method, the control law is a voltage-based to command the
actuators. The actuators provide the required torque for robot's
joints in order to track a desired trajectory. The voltage control
law has a simpler structure in the form of decentralized control
yet more efficient than the torque control law. On the other
hand, we employ adaptive control in order to estimate both
parametric uncertainty and un-modeled dynamics. The main
advantage of the proposed adaptive control system is that the
velocity feedback of robot joints is not required. Thus, our
adaptive control approach without velocity measurements is
computationally simple with easy implementation.
The rest of this paper is organized as follows: section II
presents modeling of robot manipulator driven by permanent
magnet dc motors. Section III designs an adaptive control law
and the stability analysis. Section IV illustrates simulation
results and finally section V concludes the paper.
II. MODELING
The dynamics of robot manipulators [19] are expressed as

978-1-5386-4916-9/18/$31.00 ©2018 IEEE

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26th Iranian Conference on Electrical Engineering (ICEE2018)

ࡰሺࢗሻࢗሷ ൅ ࡯ሺࢗ,ࢗሶ ሻࢗሶ ൅ ࡳሺࢗሻ ൌ ࣎௥ (1) ܴ‫ܫ‬௔ ൅ ‫ܫܮ‬௔ሶ ൅ ‫ݍܭ‬ሶ ൌ ‫ݑ‬ (6)

where ࢗ ‫ܴ א‬௡ , ࢗሶ ‫ܴ א‬௡ and ࢗሷ ‫ܴ א‬௡ are the vectors of joint where ‫ ܭ‬ൌ ݇௕ ‫ି ݎ‬ଵ . By adding േ‫ݍ‬ሶ to the left side of equation
position, joint velocity and joint acceleration, respectively. (6), it can be written as
ࡰሺࢗሻ is the ݊ ൈ ݊ matrix of manipulator inertia,
࡯ሺࢗ,ࢗሶ ሻࢗሶ ‫ܴ א‬௡ is the vector of centrifugal and Coriolis torques, ܴ‫ܫ‬௔ ൅ ‫ݍ‬ሶ ൅ ݀ ൌ ‫ݑ‬ (7)
ࡳሺࢗሻ ‫ܴ א‬௡ is the vector of gravitational torques and ࣎௥ ‫ܴ א‬௡ is
the vector of input torques of robot. The electric motors provide where ݀ ൌ ‫ܫܮ‬௔ሶ ൅ ‫ݍ‬ሶ ሺ‫ ܭ‬െ ͳሻ is the lumped uncertainty. One can
the joint torque vectors as present an ideal control law as

ࡶ௠ ࣂሷ௠ ൅ ࡮௠ ࣂሶ௠ ൅ ࢘࣎௥ ൌ ࣎௠ (2) ‫ ݑ‬ൌ ܴ‫ܫ‬௔ ൅ ‫ݍ‬ሶ ௗ ൅ ݇௣ ሺ‫ݍ‬ௗ െ ‫ݍ‬ሻ ൅ ݀ (8)

where ࣂ௠ ‫ܴ א‬௡ is the vector of motor positions, ࡶ௠ ,࡮௠ ,࢘ are
the ݊ ൈ ݊ diagonal matrices to represent coefficients of motor
inertia, motor damping, and reduction gear, respectively and
࣎௠ ‫ܴ א‬௡ is the vector of motor torques.
In order to obtain the motor voltages as input, consider
electrical equation of permanent magnet dc motors in the form
of
࢛ ൌ ࡾࡵ௔ ൅ ࡸࡵሶ௔ ൅ ࢑௕ ࢘ ࢗሶିଵ (3)
where ࢛ ‫ܴ א‬௡ is the vector of motor voltages and ࡵ௔ ‫ܴ א‬௡ is
the vector of armature currents. ࡾ,ࡸ and ࡷ௕ represent ݊ ൈ ݊
diagonal matrices for the coefficients of armature resistance,
armature inductance, and back-emf constant, respectively. The
motor torque vector ࣎௠ as the input for dynamic equation (2) is
produced by the motor current vector as
࢑௠ ࡵ௔ ൌ ࣎௠ (4)
where ࢑௠ is ݊ ൈ ݊ diagonal matrix of the torque constant. The
state-space model of the electrically driven robot manipulators
is obtained by the use of equations (1) – (4) as
ࢄሶ ൌ ࢌሺࢄሻ ൅ ࢈࢛ (5)
where ‫ݍ‬ௗ , ‫ݍ‬ሶ ௗ and ݇௣ are desired joint position, desired joint
velocity, and control design parameter, respectively.
Substituting (8) into (7) and with the definition of ݁ ൌ ‫ݍ‬ௗ െ ‫ݍ‬
as the tracking error yields
݁ሶ ൅ ݇௣ ݁ ൌ Ͳ (9)
According to (9), the closed loop control system is linear
and also is stable for ݇௣ ൐ Ͳ. Due to the existence of lumped
uncertainty, the ideal control law (8) will be represented as
‫ ݑ‬ൌ ܴ෠ ‫ܫ‬௔ ൅ ‫ݍ‬ሶ ௗ ൅ ݇௣ ݁ ൅ ݀መ (10)
where ܴ෠ and ݀መ are the approximation of ܴ and ݀, respectively.
These values can be estimated by adaptive laws which are
presented by the following stability analysis. It is noted that ܴ
has a constant value and the parameter ݀ is assumed to be
constant during the adaptive process. This assumption is valid
because of high sampling frequency in the adaptive control. In
other words, the sampling period of the adaptive mechanism is
short enough compared with the variation of ݀. Substituting
(10) into (7) yields
ܴ෠‫ܫ‬௔ ൅ ‫ݍ‬ሶ ௗ ൅ ݇௣ ݁ ൅ ݀መ ൌ ܴ‫ܫ‬௔ ൅ ‫ݍ‬ሶ ൅ ݀ (11)

where simplifying (11), we have

࢞ଶ
ିଵ ିଵ
ࢌሺࢄሻ ൌ ቎ ሺ࢘ࡰሺ࢞ଵ ሻ ൅ ࡶ௠ ࢘ ሻ ࡴ ቏ ݁ሶ ൅ ݇௣ ݁ ൌ ൫ܴ െ ܴ෠൯‫ܫ‬௔ ൅ ሺ݀ െ ݀መ ሻ (12)
െࡸ ሺࡾ࢞ଷ ൅ ࢑௕ ࢘ିଵ ࢞ଶ ሻ
ିଵ
To analyze the stability of the control system, the positive
ࡴ ൌ ൣ࢑௠ ࢞ଷ െ ൫࡮௠ ࢘ିଵ ൅ ࢘࡯ሺ࢞ଵ ǡ ࢞ଶ ሻ൯࢞ଶ െ ࢘ࡳሺ࢞ଵ ሻ൧ definite function is proposed as

૙ ࢞ଵ ࢗ ͳ ଶ ͳ ଶ ͳ ଶ
ܸൌ ݁ ൅ ൫ܴ െ ܴ෠ ൯ ൅ ൫݀ െ ݀መ ൯ (13)
࢈ൌ൥ ૙ ൩ , ࢞
ࢄ ൌ ൥ ଶ ൩ ൌ ൥ ࢗሶ ൩ ʹ ʹߛଵ ʹߛଶ
ࡸିଵ ࢞ଷ ࡵ௔
where ߛଵ and ߛଶ are positive constants. The time derivative of
The state-space equation (5) shows a highly nonlinear (13) is calculated as
coupled multivariable large system.
ͳ ሶ ͳ
III. ADAPTIVE CONTROL ܸሶ ൌ ݁݁ሶ െ ܴ෠ ൫ܴ െ ܴ෠ ൯ െ ݀መሶ ൫݀ െ ݀መ ൯ (14)
ߛଵ ߛଶ
A. Adaptive Control Design
one can rewrite (12) as
The scalar form of equation (3) can be expressed as follows

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26th Iranian Conference on Electrical Engineering (ICEE2018)

݁ሶ ൌ െ݇௣ ݁ ൅ ൫ܴ െ ܴ෠൯‫ܫ‬௔ ൅ ሺ݀ െ ݀መ ሻ (15) ܸሷ ൌ െʹ݇௣ ݁݁ሶ ൌ െʹ݇௣ ݁ሺെ݇௣ ݁ ൅ ሺܴ െ ܴ෠ ሻ‫ܫ‬௔

(20)
൅ ሺ݀ െ ݀መ ሻሻ
substituting (15) into (14) yields
According to (20), if ‫ܫ‬௔ is bounded then ܸሷ is bounded. To
ͳ ptotect motor from over-voltage, it is equipped by a voltage
ܸሶ ൌ െ݇௣ ݁ ଶ ൅ ൬݁‫ܫ‬௔ െ ܴ෠ሶ൰ ൫ܴ െ ܴ෠൯
ߛଵ limiter to limit the output of each controller as
(16)
݀መሶ ሻሺ݀ െ ݀መ ሻ
ଵ
൅ሺ݁ െ ‫ ݑ‬൑ ‫ݑ‬௠௔௫ (21)
ఊమ

To obtain ܸሶ ൑ Ͳ, the adaptive laws are chosen as
௧ uniformly continuous. Therefore, ݈݅݉ ܸሶ ՜ Ͳ or ݁ ՜ Ͳ. As a
ܴ෠ ൌ ߛଵ න ݁‫ܫ‬௔ ݀‫ ݐ‬൅ ܴ෠ ሺͲሻ
଴
௧
݀መ ൌ ߛଶ න ݁݀‫ ݐ‬൅ ݀መ ሺͲሻ
଴ The proposed control law is simulated for tracking control
where ܴ෠ ሺͲሻ and ݀መ ሺͲሻ are initial values of ܴ෠ and ݀መ ,
respectively.
B. Stability Analysis
The desired trajectory should be sufficiently smooth such
that all its derivatives up to the required order are bounded [19].
By employing the adaptive laws (17) and (18), one can
represent (16) as
ܸሶ ൌ െ݇௣ ݁ ଶ  ൑ Ͳ
Considering (19), ܸሶ is negetive semi-definite thus ܸ is
bounded. Hence, ݁, ሺܴ െ ܴ෠ ሻ and ሺ݀ െ ݀መ ሻ are bounded. On the
other hand, according to Barbalat's lemma, since ܸ is
differentiable and has finite limit and ܸሶ is uniformly continuous
then ܸሶ ՜ Ͳ as ‫ ݐ‬՜ λ. A sufficient condition for a uniformly
continuous function is that it's derivative is finite [20].
where ‫ݑ‬௠௔௫ is maximum permitted voltage. Due to (21), ‫ ݑ‬is
bounded then based on (7), ‫ܫ‬௔ , ‫ݍ‬ሶ and ݀ are bounded so ܸሶ is
(17) ௧՜ஶ
result, the tracking error asymptotically converges to zero and
the boundedness of all system states is proven.
(18) IV. SIMULATION RESULTS
of articulated robot manipulators [21]. This robot has three
revolute joints as shown in Fig. 1. The Denavit-Hartenberg
(DH) parameters of robotic system are given in Table I, where
the parameters ߠ௜ , ݀௜ , ܽ௜ and ߙ௜ are called the joint angle, link
offset, link length, and link twist, respectively. The electric
motors with a maximum voltage of 50 volts are used to generate
input torque for robot joints. The parameters of motors are
given in Table II. The dynamical parameters of manipulator are
given in Table III, where for ݅ -th link, ݉௜ is the mass,
‫ݎ‬௜ ൌ ሾ‫ݔ‬௜ ‫ݕ‬௜ ‫ݖ‬௜ ሿ் is the center of mass of ݅-th frame and ‫ܫ‬௜ is
(19) the inertia tensor. The desired trajectory for each joint is
illustrated in Fig. 2, which is defined as
ߨ‫ݐ‬
‫ݍ‬ௗ ൌ ͳ െ ܿ‫ ݏ݋‬൬ ൰ Ͳ ൑ ‫ ݐ‬൑ ʹͲ (22)
ͳͲ
Simulation 1 The initial values for ܴ෠ and ݀መ are set to
ܴ෠ ሺͲሻ ൌ ͳǤͶͶ and ݀መ ሺͲሻ ൌ Ͳ. The control parameters are chosen
as ݇௣ ൌ ͷͲͲ and ߛଵ ൌ ߛଶ ൌ ͲǤͲͳ. The initial tracking error for
joints 1 and 3 are given -0.1 rad and for joint 2 is given -0.5
rad.
TABLE I. THE DENAVIT-HARTENBERG PARAMETERS

Link ߠ௜ ሺ‫݀ܽݎ‬ሻ ݀௜ ሺ݉ሻ ܽ௜ ሺ݉ሻ ߙ௜ ሺ‫݀ܽݎ‬ሻ

஠
1 ߠଵ 0.28 0 ଶ

2 ߠଶ 0 0.76 0
3 ߠଷ 0 0.93 0

TABLE II. THE MOTOR PARAMETERS

‫ܭ‬௕ ‫ܬ‬௠ ‫ܤ‬௠

ܴ ܸ‫ݏ‬ ‫ܮ‬ ܰ݉‫ ݏ‬ଶ ܰ݉‫ ݏ‬ଶ
Motors ‫ݎ‬
ሺߗሻ ൬ ൰ ሺ‫ܪ‬ሻ ቆ ቇ ቆ ቇ
‫݀ܽݎ‬ ‫݀ܽݎ‬ ‫݀ܽݎ‬

Figure 1. The symbolic representation of an articulated robot 1,2,3 1.6 0.26 0.001 0.0002 0.001 0.02

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26th Iranian Conference on Electrical Engineering (ICEE2018)

TABLE III. THE DYNAMICAL PARAMETERS OF ROBOT

Link ‫ݔ‬௜ ሺ݉ሻ ‫ݕ‬௜ ሺ݉ሻ ‫ݖ‬௜ ሺ݉ሻ ݉௜ ሺ݇݃ሻ ‫ܫ‬௫௫௜ ሺ݇݃݉ଶ ሻ ‫ܫ‬௬௬௜ ሺ݇݃݉ଶ ሻ ‫ܫ‬௭௭௜ ሺ݇݃݉ଶ ሻ ‫ܫ‬௫௬௜ ሺ݇݃݉ଶ ሻ ‫ܫ‬௫௭௜ ሺ݇݃݉ଶ ሻ ‫ܫ‬௬௭௜ ሺ݇݃݉ଶ ሻ

1 0 -0.22 0 19 0.34 0.36 0.31 0 0 0

2 -0.51 0 0 18.18 0.18 1.32 1.31 0 0 0

3 -0.67 0 0 10.99 0.07 0.92 0.93 0 0 0

Desired Trajectory

1.5
Joint Angle (rad)

Error (rad)
1

0.5

0
0 5 10 15 20
Time(sec)
Figure 3. The Performance of the proposed adaptive controller
Figure 2. The desired trajectory

Adaptive control performance for tracking control is shown

in Fig. 3. Tracking error for each joint is small. The control
efforts are shown in Fig. 4. Robot manipulator is under high
load when starting. For this reason, the motor voltages respond
fast with high value at the beginning. It is worth noting that the
Voltage (V)

initial values of voltages depend on the initial values of joint

position and also control design parameters. Fig. 5 illustrates
adaptation of parameter ܴ෠ where it is bounded. Adaptive
behaviour for ݀መ is also shown in Fig. 6.
To evaluate the performance of the proposed controller in
the presence of an external disturbance, the periodic pulse
function with a period of 5 sec, amplitude of 1 volt, time delay
of 1 sec, and pulse width 50% of period is inserted to the input
of each motors. The proper performance of proposed adaptive
control system and motors' voltages in the presence of the Figure 4. Control efforts
external disturbances are shown in Fig. 7 and Fig. 8,
respectively.
Owing to the fact that ݀ is an unknown parameter, we set
the initial value of ݀መ to 0, 1, 3, and 5 for examining the effect
of ݀መ on the tracking error. Fig. 9 shows the adaptive behavior
of ݀መ for the second joint. Also, Fig. 10 illustrates the tracking
error of the second joint with respect to the aformentioned
initial values of ݀መ . The results show the appropriate
performance of the proposed controller.

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26th Iranian Conference on Electrical Engineering (ICEE2018)

Adaptation of Parameters Motor Voltage Under Disturbance

1.49 50
Controller 1 Motor 1
1.48 Controller 2 40 Motor 2
Controller 3 Motor 3
30
1.47
20
1.46

Voltage(V)
10
R-hat

1.45 0

1.44 -10

-20
1.43
-30
1.42
-40
1.41 -50
0 5 10 15 20 0 5 10 15 20
Time(sec) Time(sec)

Figure 5. Adaptation of ܴ෠ Figure 8. The control efforts considering the external disturbances

10 -3 Adaptation of Parameters Adaptation of Parameters

4
Controller 1
Controller 2 5
3 Controller 3
d-hat(0)=0
d-hat(0)=1
4
d-hat(0)=3
2
d-hat(0)=5

3
d-hat

d-hat

2
0

1
-1

0
-2
0 5 10 15 20
Time(sec) 0 5 10 15 20
Time(sec)
Figure 6. Adaptation of ݀መ
Figure 9. Adaptation of ݀መ for the second joint with respect to the different
values of ݀መ ሺͲሻ
Error (rad)

Error (rad)

Figure 7. The performance of the adaptive control system considering the

external disturbances
Figure 10. Tracking error for second joint respect to different values of ݀መ ሺͲሻ

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26th Iranian Conference on Electrical Engineering (ICEE2018)
Simulation 2 A comparison between our proposed control
system and a voltage-based Nonlinear Robust Adaptive Control
(NRAC) [22] is provided. The initial values for ܴ and ݇௕ are
chosen as ܴ෠ ሺͲሻ ൌ ͳǤͶͶ and ݇෠௕ ሺͲሻ ൌ ͲǤʹͷ. The tracking errors
of the second joint for our proposed controller and NRAC are
shown in Fig. 11. The proposed control system is superior to
the NRAC method in the face of the tracking performance and
the number of requirement feedbacks for implementation of the
control law. The tracking error in the proposed control is more
smaller than the NRAC method. It is noted that the NRAC
method is implemented by feedbacks of joint position, joint
velocity and motor current. However, the proposed control is
implemented only by feedbacks of joint position and motor
current.
Figure 11. The tracking control performance of our proposed controller and
NRAC for the second joint.
V. CONCLUSION
In this paper, a novel approach of adaptive control is
proposed for robot manipulators driven by permanent magnet
dc motors. Due to the advantages of the voltage control
strategy, this control strategy has been used to design an
adaptive controller. The proposed control law is free from the
dynamical model of robot manipulators and it can be
implemented only by feedbacks of the joint position and motor
current. In addition, both parametric uncertainty and un-
modelled dynamics are estimated with an adaptive control
scheme. According to the stability analysis, the asymptotic
convergence of the tracking error to zero and also the
boundedness of all system states are proven. The simultion
results show the high-performance of our proposed adaptive
control system.
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