Computed torque control-based composite nonlinear feedback controller for robot manipulators with bounded torques

Wu, Peng; Lin, Ziying; Su, Jianbo

doi:10.1049/iet-cta.2008.0259

Cited by 43 publications

(23 citation statements)

References 14 publications

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“…Since its conception in [30] in the context of second order systems, which facilitate the physical interpretation of damping ratios, the CNF design methods have been extended to higher dimensional and multiple input systems by several authors (see, e.g., [31][32]). Successful implementations of the CNF control have also been reported (see, e.g., [43][44]). Consider a linear system with actuator saturation:…”

Section: Composite Nonlinear Feedback Designmentioning

confidence: 99%

An overview of the development of low gain feedback and low-and-high gain feedback

Lin

2009

J Syst Sci Complex

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Low gain feedback refers to certain families of stabilizing state feedback gains that are parameterized in a scalar and go to zero as the scalar decreases to zero. Low gain feedback was initially proposed to achieve semi-global stabilization of linear systems subject to input saturation. It was then combined with high gain feedback in different ways for solving various control problems. The resulting feedback laws are referred to as low-and-high gain feedback. Since the introduction of low gain feedback in the context of semi-global stabilization of linear systems subject to input saturation, there has been effort to develop alternative methods for low gain design, to characterize key features of low gain feedback, and to explore new applications of the low gain and low-and-high gain feedback. This paper reviews the developments in low gain and low-and-high gain feedback designs.

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Section: Composite Nonlinear Feedback Designmentioning

confidence: 99%

An overview of the development of low gain feedback and low-and-high gain feedback

Lin

2009

J Syst Sci Complex

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“…Therefore, control input saturation is a practical issue of relevance to controller design for parallel robots. The control performance will seriously degrade or the actuators will be damaged if the limitations of the control inputs are not considered appropriately in the algorithm design [11,12]. In serial robot manipulator control, saturation functions are used in the controller design to avoid control input limitations [13,14].…”

Section: Introductionmentioning

confidence: 99%

A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs

Zhao

Spurgeon

Liang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 231 (4). pp. 271-281. ISSN 0959-6518 Available from: http://eprints.uwe.ac.uk/31842We recommend you cite the published version. The publisher's URL is: http://dx.doi.org/10.1177/0959651817698333Refereed: Yes (no note) Disclaimer UWE has obtained warranties from all depositors as to their title in the material deposited and as to their right to deposit such material. UWE makes no representation or warranties of commercial utility, title, or fitness for a particular purpose or any other warranty, express or implied in respect of any material deposited. UWE makes no representation that the use of the materials will not infringe any patent, copyright, trademark or other property or proprietary rights. UWE accepts no liability for any infringement of intellectual property rights in any material deposited but will remove such material from public view pending investigation in the event of an allegation of any such infringement. PLEASE SCROLL DOWN FOR TEXT. A New Terminal Converging AbstractIn this study, a new terminal converging adaptive control approach with bounded control inputs is developed for the 6 degree of freedom (DOF) parallel robot manipulator. The non-smooth feedback control principle is combined with particular bounded functions to define both the control input and associated adaptive law. TheLyapunov method is used to present a stability analysis in order to prove that the error trajectories are semi-globally asymptotically stable. Numerical simulation results relating to a 6 DOF parallel robot are presented to validate the effectiveness of the proposed approach and to compare the performance obtained with other candidate control schemes. It is shown that the proposed scheme achieves more rapid error convergence and exhibits improved robustness whilst guaranteeing that the control signal remains within known bounds.Keywords: Non-smooth control, Saturation control, Robot manipulator, Parallel robot IntroductionThe 6 DOF parallel robot manipulator has some superior properties when compared with its serial counterpart such as higher accuracy, higher stiffness and higher load-carrying capacity [1,2]. By virtue of these merits, they can be used as actuators for high precision operation of heavy payload such as a flight simulator, an astronomical telescope or machine-tools [3,4]. Such applications require high performance control, which means the designed control algorithm should achieve high precision and a fast convergence speed.From the point of view of systems and control, the 6 DOF parallel robot manipulator is a typical multi-input multi-output (MIMO), strongly coupled nonlinear system. Due to the complex dynamics and application environment, modeling error cannot be avoided. It is very challenging to design high performance control algorithms and this has attracted extens...

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“…poles at the origin) the step response of the corresponding closed-loop system must have overshoot [4] (see Lemma 8.1 therein); and (3) the step response of a standard feedback control system must overshoot if the open loop contains an integrator and the rise time is sufficiently slow [5]. Besides, there are also many works concerned with the effect of non-minimum phase zero on undershoot and overshoot, for instance, [6][7][8][9][10][11][12][13][14], and the non-overshooting control design methods, for instance, [5,[15][16][17][18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

On overshoot and integrators

Zhu

2014

IET Control Theory & Applications

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An extension of previous results concerning the effect of integrators on the closed-loop response overshoot is presented. It is shown that if the open-loop transfer function contains more integrators (i.e.[1/s]) than the Laplace transform of the reference signal, then the resulting output response must exhibit overshoot, assuming that a one degree-of-freedom control configuration is used. Several corollaries are also derived. The obtained results are applicable to minimum and nonminimum phase linear systems, and also strictly proper and non-strictly proper linear systems. A non-overshooting output tracking controller is then proposed for linear chain of integrators, whose structure and performance are analysed.

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Computed torque control-based composite nonlinear feedback controller for robot manipulators with bounded torques

Cited by 43 publications

References 14 publications

An overview of the development of low gain feedback and low-and-high gain feedback

An overview of the development of low gain feedback and low-and-high gain feedback

A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs

On overshoot and integrators

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