An adaptive robust backstepping improved control scheme for mobile manipulators robot

Long, Mai Thang; Tran, Huu-Toan

doi:10.1016/j.isatra.2023.01.005

Cited by 12 publications

(10 citation statements)

References 21 publications

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“…However, the proposed method, with adaptive control gains, smooth-robust term (with tanh(.) function 32 ) has presented more reliability in ensuring control system stability, minimizing the chattering and discontinuities phenomena for control signals in the presence of the abrupt faults. In this simulation process, the other control parameters, as provided in Table 1, impact to updating/ estimation speeds (m f , m D , m a , m k , d f , d D , d a , d k ) and efficiency of the robust controllers (r), they may not be selected to achieve the best results for all compared methods (AFNTSM, FFNTSM, and FNTSM).…”

Section: Numerical Simulation Resultsmentioning

confidence: 99%

Section: Numerical Simulation Resultsmentioning

confidence: 99%

“…This will assist the estimators (for the unknown dynamics and faults) in enhancing their accuracy. In addition, by combining the smooth function, tanh ( . ) 32 the proposed robust controller will be able to ensure the continuity and chattering-free of the control signals.…”

Section: The Ntsm Control Algorithmsmentioning

confidence: 99%

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Adaptive fault control for robot manipulators based on nonsingular terminal sliding mode control technique

Long,

Toan,

Suong

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This work studies to improve the efficiency of the tracking control system based on the nonsingular terminal sliding mode technique for the robot manipulators in case of sudden faults. In the proposed control strategy, the adaptability is first enhanced by the self-updating algorithms for all control gains of the main sliding mode controller. Next, the unknown dynamics and abrupt faults are estimated to ensure the robustness and tracking performances of the control system. In addition, the proposed control method has more advantages in addressing the inevitable updating/estimating errors and guaranteeing the continuity and smoothness of control signals through an added robust controller. And based on the Lyapunov theorem, the designed adaptive updating/estimating control strategy has guaranteed for the stability, robustness, and finite time convergence of the control system. In the end, the improved features of the proposed control method are verified by the compared numerical simulation results.

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Section: Numerical Simulation Resultsmentioning

confidence: 99%

Section: Numerical Simulation Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive fault control for robot manipulators based on nonsingular terminal sliding mode control technique

Long,

Toan,

Suong

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

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show abstract

“…To finalize this section, the following references are related to miscellaneous robot control strategies related in any other way to mobile robot control. In papers like [ 66 , 67 ], model predictive and model control are implemented for the control of different kinds of robots. Then, in [ 68 , 69 ], two control strategies are presented for the trajectory tracking of mobile robots.…”

Section: Related Workmentioning

confidence: 99%

Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot

Cardona

Serrano

2023

Sensors

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This paper presents the design and synthesis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First, the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasible representation of this kind of robot. Then, two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control; this means that considering that the velocity vector of the mobile robot is orthogonal to its restriction, a dynamic output feedback and neural network controller is designed so that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then, another control strategy is designed for trajectory-tracking purposes, in which similar to the driftless controller, a kinematic control scheme is provided that is suitable to implement in more sophisticated hardware. In both control strategies, a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory, the stability and convergence to the origin of the mobile robot position coordinates are ensured. Finally, two numerical experiments are presented in order to validate the theoretical results synthesized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.

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“…Currently, the operation is mainly carried out by the manual operation of construction machinery, and the operator completes environmental perception, task decision-making, control execution, and collaborative scheduling. For the unmanned construction system, in order to replace operators and complete the aforementioned jobs, the construction machinery should first achieve the intelligence of a single machine, which means the ability to perceive [1][2][3], decision-making [4][5][6] and control [7][8].…”

Section: Introductionmentioning

confidence: 99%

Design and development of intelligent unmanned construction system for open-pit mine

Liu,

Mei,

2024

J. Phys.: Conf. Ser.

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China’s huge mineral outputs support the national economy and people’s livelihood. However, the mining operation is rough and the safety accident happens frequently. Consequently, the demand for unmanned mining operations is urgent, which is of great significance to safe production. Facing the complex operation scenarios of open-pit mines, an unmanned construction system framework is proposed based on intelligent construction machinery. On this basis, an unmanned excavation subsystem is designed and developed based on the hydraulic excavator, and an unmanned transportation subsystem is designed and developed based on the mining truck. Equipped with advanced sensors and controllers, the unmanned excavation subsystem and the unmanned transportation subsystem possess sensing, decision-making, and control abilities by using AI algorithms. The experiment of the unmanned construction systems is successfully conducted on the open-pit mine test site. This study provides equipment and technical support for improving the intelligent level of mine construction and ensuring safe production for the open-pit mine.

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An adaptive robust backstepping improved control scheme for mobile manipulators robot

Cited by 12 publications

References 21 publications

Adaptive fault control for robot manipulators based on nonsingular terminal sliding mode control technique

Adaptive fault control for robot manipulators based on nonsingular terminal sliding mode control technique

Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot

Design and development of intelligent unmanned construction system for open-pit mine

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