A Novel Trajectory Tracking Control with Modified Supertwisting Sliding Mode for Human-Robot Cooperation Manipulator in Assembly Line

Wang, Xingyu; Wang, Anna; Wang, Dazhi; Liu, Zhen; Qi, Yufei

doi:10.1155/2022/1822670

Cited by 4 publications

(4 citation statements)

References 32 publications

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“…The traditional control algorithm of slave manipulator is the sliding mode control based on the estimation model. The specific calculation process is explained in reference [9], and the control torque of slave manipulator can be obtained as:…”

Section: Controller Design 41 Design Of Slave Controllermentioning

confidence: 99%

Hybrid control of force feedback and position feedback for bilateral teleoperation of underwater manipulator

Liu

Zhang²,

Wu³

2022

International Conference on Intelligent and Human-Computer Interaction Technology (IHCIT 2022)

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Aiming at the problems of external disturbance such as underwater ocean current and joint friction of master-slave manipulator in underwater teleoperation system, the bilateral control algorithm of master-slave manipulator was optimized under the hybrid control structure of force feedback and position feedback. In order to track the interaction force between the master manipulator and the slave manipulator, the grey predictive fuzzy control with error compensation is used to adjust the force feedback error, and it is mixed with the traditional PID control to achieve better control effect. In order to track the position of the master for the slave manipulator, a fuzzy adaptive system that based on the traditional sliding mode control, is used to adjust the switching gain. Estimate the upper bound of the external interference, and a robust term is designed to suppress the error estimation. The stability and convergence of the optimized system are proved by Lyapunov stability theory. Comparative simulation experiments on MATLAB/Simulink platform were carried out to verify the effectiveness of the optimization algorithm.

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Section: Controller Design 41 Design Of Slave Controllermentioning

confidence: 99%

Hybrid control of force feedback and position feedback for bilateral teleoperation of underwater manipulator

Liu

Zhang²,

Wu³

2022

International Conference on Intelligent and Human-Computer Interaction Technology (IHCIT 2022)

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“…In recent years, in the field of trajectory tracking control of robotic arms, scholars have proposed many control schemes, such as neural network control [5][6][7], iterative learning control [8,9], fuzzy control [10][11][12], sliding mode control [13][14][15], and so on. Sliding mode control is a non-linear control with a discontinuous control construction.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fractional-Order Non-Singular Fast Terminal Sliding Mode Control Based on Fixed Time Disturbance Observer for Manipulators

Zhang

Quan

2022

IEEE Access

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In this study, with the help of a disturbance observer, an adaptive fractional-order sliding mode control scheme is designed to achieve trajectory tracking control of indeterminate manipulators. Firstly, the fractional-order non-singular fast terminal sliding mode (FO-NFTSM) surface is presented to increase the convergence velocity of the controller. Secondly, the adaptive reaching law is designed on the strength of the super-twisting algorithm to ensure the control performance of the approaching stage. Meanwhile, aiming at the compound disturbance existing in the manipulator system, an adaptive fixed-time sliding mode disturbance observer (AFSMDO) is introduced to settle the problem, which can estimate the lumped disturbance in real-time. Moreover, compensate for the system and raise the precision of the controller. The Lyapunov method is applied to certify the stability of the control system. Simulation experiments verify the superior property of the controller designed in this article.

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“…Fan et al [ 7 ] designed a recursive neural network by collecting motion data of redundant manipulators and established a controller for the case of incomplete or unknown manipulator dynamics models to improve the trajectory tracking accuracy of industrial manipulators. The control method with an obvious effect on manipulator disturbance suppression is the sliding mode control, which can identify and track the disturbance for the characteristics of an external disturbance so that the accuracy of the manipulator’s controller trajectory tracking control can be improved [ 8 , 9 ]. It can be seen from the methods mentioned in the above documents that to improve the trajectory tracking accuracy and positioning accuracy of the manipulator, an accurate control model is required, and the controller needs to be improved to identify the noise and disturbance in the manipulator’s working environment.…”

Section: Introductionmentioning

confidence: 99%

A Modified Robotic Manipulator Controller Based on Bernstein-Kantorovich-Stancu Operator

Zhang

Wang

2022

Micromachines

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With the development of intelligent manufacturing and mechatronics, robotic manipulators are used more widely. There are complex noises and external disturbances in many application cases that affect the control accuracy of the manipulator servo system. On the basis of previous research, this paper improves the manipulator controller, introduces the Bernstein–Kantorovich–Stancu (BKS) operator, and proposes a modified robotic manipulator controller to improve the error tracking accuracy of the manipulator controller when observing complex disturbances and noises. In addition, in order to solve the problem that the coupling between the external disturbances of each axis of the manipulator leads to a large amount of computation when observing disturbances, an improved full-order observer is designed, which simplifies the parameters of the controller combined with the BKS operator and reduces the complexity of the algorithm. Through a theoretical analysis and a simulation test, it was verified that the proposed manipulator controller could effectively suppress external disturbance and noise, and the application of the BKS operator in the manipulator servo system control is feasible and effective.

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A Novel Trajectory Tracking Control with Modified Supertwisting Sliding Mode for Human-Robot Cooperation Manipulator in Assembly Line

Cited by 4 publications

References 32 publications

Hybrid control of force feedback and position feedback for bilateral teleoperation of underwater manipulator

Hybrid control of force feedback and position feedback for bilateral teleoperation of underwater manipulator

Adaptive Fractional-Order Non-Singular Fast Terminal Sliding Mode Control Based on Fixed Time Disturbance Observer for Manipulators

A Modified Robotic Manipulator Controller Based on Bernstein-Kantorovich-Stancu Operator

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