A Combined Backstepping Terminal Sliding Mode Algorithm Based Decentralized Control Scheme for Reconfigurable Manipulators

Zhao, Bo; Wang, Zhiqian; Qiao, Yanfeng; Liu, Keping; Li, Yuanchun

doi:10.1007/978-1-4471-4141-9_59

Cited by 4 publications

(4 citation statements)

References 6 publications

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“…In order to verify the effectiveness and reliability of the proposed control scheme, two 2-DOF reconfigurable manipulators with different configurations are utilized to numerical simulation, with the same dynamic model, desired trajectories, as well as initial positions of joint modules appeared in [13], and the initial velocities of the differential tracker are selected as 0 ) 0 ( i q .…”

Section: Simulation Resultsmentioning

confidence: 99%

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Decentralized differential tracker based control of reconfigurable manipulators without velocity sensor

Zhao

2014

Proceedings of the 33rd Chinese Control Conference

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This paper presents a decentralized control scheme for reconfigurable manipulator without velocity sensor. In order to handle the problem for lacking velocity signal in each module joint, a decentralized differential tracker and the measured position signal are employed to reconstruct the velocity signal, which can be used to feedback to the designed controller. Consider the model uncertainty, dynamic friction, and the interconnection term among the module joints, the compensated controller is designed through the adaptive fuzzy logic. And then, the system stability is asymptotically guaranteed by Lyapunov stability theory. At last, the numerical simulation results from two different 2-DOF reconfigurable manipulators demonstrate the effectiveness of the proposed scheme.

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Section: Simulation Resultsmentioning

confidence: 99%

“…The dynamic of a reconfigurable manipulator with n-degrees of freedom derived from Newton-Euler formulation is described as [13] u…”

Section: Problem Formulationmentioning

confidence: 99%

Decentralized differential tracker based control of reconfigurable manipulators without velocity sensor

Zhao

2014

Proceedings of the 33rd Chinese Control Conference

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“…Now, consider 2-DOF reconfigurable manipulators with different configurations shown in [17], along with dynamic model and initial state, for numerical simulation. The nonlinear terms are compensated by neural networks with the parameters Γ = Γ = 0.0002, Γ = 6000, = 0.0001, = 0.0003, = 2, = 0.01.…”

Section: Simulation Resultsmentioning

confidence: 99%

Multisensor Fault Identification Scheme Based on Decentralized Sliding Mode Observers Applied to Reconfigurable Manipulators

Zhao

2013

Mathematical Problems in Engineering

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This paper concerns with a fault identification scheme in a class of nonlinear interconnected systems. The decentralized sliding mode observer is recruited for the investigation of position sensor fault or velocity sensor fault. First, a decentralized neural network controller is proposed for the system under fault-free state. The diffeomorphism theory is utilized to construct a nonlinear transformation for subsystem structure. A simple filter is implemented to convert the sensor fault into pseudo-actuator fault scenario. The decentralized sliding mode observer is then presented for multisensor fault identification of reconfigurable manipulators based on Lyapunov stable theory. Finally, two 2-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in numerical simulation. The results demonstrate that one joint’s fault does not affect other joints and the sensor fault can be identified precisely by the proposed decentralized sliding mode observer.

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“…In order to verify the effectiveness of the proposed method, apply two 2-DOF reconfigurable modular robots appeared in [6] for simulation. Module parameters, desired trajectories, initial positions and velocities are the same.…”

Section: Numerical Simulationmentioning

confidence: 99%

Research on the Fault Diagnosis Method of the Reconfigurable Modular Robot Based on Second-Order Sliding Mode Observer

2014

AMM

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This paper was concerned with the fault diagnosis method based on the second-order sliding mode observer (SOSMO) for reconfigurable modular robot systems with joint friction. The residual signal between given threshold and output of the SOSMO are utilized to directly and effectively detect the fault of reconfigurable modular robot. The stability of the SOSMO is proved by using Lyapunov stability theory. In order to demonstrate the effectiveness of the proposed method, two different 2-DOF reconfigurable modular robots are employed for simulation.

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A Combined Backstepping Terminal Sliding Mode Algorithm Based Decentralized Control Scheme for Reconfigurable Manipulators

Cited by 4 publications

References 6 publications

Decentralized differential tracker based control of reconfigurable manipulators without velocity sensor

Decentralized differential tracker based control of reconfigurable manipulators without velocity sensor

Multisensor Fault Identification Scheme Based on Decentralized Sliding Mode Observers Applied to Reconfigurable Manipulators

Research on the Fault Diagnosis Method of the Reconfigurable Modular Robot Based on Second-Order Sliding Mode Observer

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