Dynamic Modularity Approach to Adaptive Inner/Outer Loop Control of   Robotic Systems
  Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop controllers, however, do not take into consideration the dynamic effects of robots and their effectiveness relies on the ad hoc assumption that the inner PI or PID control loop is fast enough, and other torque-based control algorithms cannot be implemented in robotics with closed architecture. This paper investigates the adaptive control of robotic systems with an inner/outer loop structure, taking into full account the effects of the dynamics and the system uncertainties, and both the task-space control and joint-space control are considered. We propose a dynamic modularity approach to resolve this issue, and a class of adaptive outer loop control schemes is proposed and their role is to dynamically generate the joint velocity (or position) command for the low-level joint servoing loop. Without relying on the ad hoc assumption that the joint servoing is fast enough or the modification of the low-level joint controller structure, we rigorously show that the proposed outer loop controllers can ensure the stability and convergence of the closed-loop system. We also propose the outer loop versions of several standard joint-space direct/composite adaptive controllers for rigid or flexible-joint robots, and a promising conclusion may be that most torque-based adaptive controllers for robots can be designed to fit the inner/outer loop structure by using the new definition of the joint velocity (or position) command. Simulation results are provided to show the performance of various adaptive outer loop controllers, using a three-DOF (degree-of-freedom) manipulator, and experiment results using the UR10 robotic system are also presented. 
Hanlei Wang, Wei Ren, Chien Chern Cheah, Yongchun Xie, Shangke Lyu
cs.SY