Adaptive coordinated control of uncertain free-floating space manipulators with prescribed control performance

Lu, Xuhui; Jia, Yingmin

doi:10.1007/s11071-019-05071-w

Cited by 37 publications

(11 citation statements)

References 60 publications

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“…So far, the prescribed performance control have been extended to discrete‐time systems, 27 chaotic systems, 28 and so forth 29 . In numerous practical applications, the results could even be further extended to variable‐speed wind energy conversion systems, 30 free‐floating space manipulators, 31 and Large Vehicular Platoons, 32 and so forth. On the basis of the initial errors are difficult to be known accurately, some developed performance functions 33,34 are designed to overcome the problems.…”

Section: Introductionmentioning

confidence: 99%

Prescribed performance synchronization for time‐delayed complex dynamical networks under event‐triggered pinning control

Dong

Shi

2021

Intl J Robust & Nonlinear

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In this article, a new event‐based pinning synchronization control strategy for complex dynamical networks with internal delay and transmission delay is investigated. By introducing prescribed performance control schemes, the transient and steady performance of synchronization errors are guaranteed simultaneously. The main results in the article show that, not only exponential synchronization is achieved, but also the transient bounded of synchronization errors is guaranteed based on Lyapunov approach. Furthermore, an efficient event‐based mechanism is derived to avoid the infinitely fast switching of the pinning node set. We also develop a new selection‐algorithm to find certain suitable nodes to be controlled and these selected nodes will be updated online at each triggering instant. At last, the simulation examples are made to demonstrate the effectiveness and superiority of the obtained results.

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Section: Introductionmentioning

confidence: 99%

Prescribed performance synchronization for time‐delayed complex dynamical networks under event‐triggered pinning control

Dong

Shi

2021

Intl J Robust & Nonlinear

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“…During robot control, the purpose is to regulate the position and/or speed to assist human joints to achieve coordinated training (Proietti et al, 2016 ). Progress in kinematic coordination has been made in lower limb rehabilitation (Gui et al, 2017 ), such as space robots (Lu and Jia, 2019 ), dual-arm surgical robots (Wu et al, 2019 ), and bilateral robots (Miao et al, 2020 ), but there are few examples in upper limb rehabilitation. Brokaw et al ( 2013 ) implemented a time-independent functional training mode on the ARMin III robot, to realize the coordinated training for stroke patients.…”

Section: Introductionmentioning

confidence: 99%

Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation

Liu

et al. 2021

Front. Neurorobot.

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The coordinated rehabilitation of the upper limb is important for the recovery of the daily living abilities of stroke patients. However, the guidance of the joint coordination model is generally lacking in the current robot-assisted rehabilitation. Modular robots with soft joints can assist patients to perform coordinated training with safety and compliance. In this study, a novel coordinated path planning and impedance control method is proposed for the modular exoskeleton elbow–wrist rehabilitation robot driven by pneumatic artificial muscles (PAMs). A convolutional neural network-long short-term memory (CNN-LSTM) model is established to describe the coordination relationship of the upper limb joints, so as to generate adaptive trajectories conformed to the coordination laws. Guided by the planned trajectory, an impedance adjustment strategy is proposed to realize active training within a virtual coordinated tunnel to achieve the robot-assisted upper limb coordinated training. The experimental results showed that the CNN-LSTM hybrid neural network can effectively quantify the coordinated relationship between the upper limb joints, and the impedance control method ensures that the robotic assistance path is always in the virtual coordination tunnel, which can improve the movement coordination of the patient and enhance the rehabilitation effectiveness.

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“…In [12], an inverse dynamic control method is proposed to solve the nonlinear problem of industrial robotic manipulator. Lu and Jia proposed an Adaptive Coordinated Control for a free-floating space manipulator with uncertain kinematics and dynamics characteristics [13]. However, the above schemes do not consider the repetitive reference trajectory tracking control under model uncertainty.…”

Section: Introductionmentioning

confidence: 99%

Repetitive Control Scheme of Robotic Manipulators Based on Improved B‐Spline Function

Wang

et al. 2021

Complexity

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In this paper, a repetitive control scheme of a 2-DOF robotic manipulator based on the improved cubic B-spline curve is proposed. Firstly, a repetitive controller for robotic manipulator is designed, which is composed of an iterative controller and disturbance observer. Then, an improved B-spline optimization scheme is introduced to divide the task of the robotic manipulator into three intervals. A correction function is added to each interval of cubic spline interpolation. Finally, a variety of cases are designed and simulated by MATLAB. The experimental results show that, compared with the conventional B-spline, the improved B-spline has better performance in tracking accuracy and smoothness of motion trajectory. By changing the mechanism of the manipulator, the cases of different weights and lengths are designed. The experimental results in these cases show that the proposed scheme can be applied to most of the 2-DOF robotic manipulator control systems.

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Adaptive coordinated control of uncertain free-floating space manipulators with prescribed control performance

Cited by 37 publications

References 60 publications

Prescribed performance synchronization for time‐delayed complex dynamical networks under event‐triggered pinning control

Prescribed performance synchronization for time‐delayed complex dynamical networks under event‐triggered pinning control

Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation

Repetitive Control Scheme of Robotic Manipulators Based on Improved B‐Spline Function

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