Computed Torque Control Method for Two-Axis Planar Serial Robotic Arm

Perumalsamy, G.; Kumar, Deepak; Jose, Joel; Winston, S. Joseph; Murugan, S.

doi:10.1080/03772063.2020.1869595

Cited by 2 publications

(3 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For the moment, researchers have turn up for mobile-manipulators tracking control with control procedures as specified in the literature. Including robust adaptive fault tolerant control, chore-null space decoupling control [10], non-linear closed loop control [11], computed torque control (CTC) [12], neural network (NN) [13]- [15], as a result of complex computation low response time of fuzzy logic control, fuzzy plus NN [16], [17], tracking control that is adaptable and robust, and using a variety of sliding-mode controls [18]. The above study works proposed a self-motivated control law that combines many control procedures such as back stepping, sliding mode, neural-network plus fuzzy logic, making controller design extra laborious, and expensive computationally.…”

Section: Issn: 2302-9285mentioning

confidence: 99%

See 1 more Smart Citation

Robust trajectory tracking with non-singular terminal sliding mode control of a mobile manipulator

et al. 2022

View full text Add to dashboard Cite

This effort addresses and uses a robust-trajectory-tracking control system for kinematically redundant location tracking of a mobile manipulator (mobman) in its task space in the presence of parameter uncertainties and external disturbances. It consists of a serial manipulator with four degrees of freedom (DOF) fixed on three DOF mobile bases. A robust tracking control is achieved using the configuration of a non-singular terminal sliding mode (NSTSM) control for the entire non-linear model of a mobman. Because of the non-linear added term in the linear sliding surface, which reflects in the non-linear sliding mode known as terminal sliding mode (TSM), this control preparation satisfies systems states finite time convergence. Similarly, conventional terminal sliding mode control (CTSMC) entail singularity trouble, which is tackled by the control scheme. (Computer based) simulations are used to demonstrate the convenience, feasibility, and robustness of given techniques.

show abstract

Section: Issn: 2302-9285mentioning

confidence: 99%

“…Take up both properties with mobile-manipulator dynamics (1). Vector of controlinput is taken as defined (12). Error vector monitoring output touches to zero in an in-finite amount of-time with respect to s.…”

Section: Theoremmentioning

confidence: 99%

Robust trajectory tracking with non-singular terminal sliding mode control of a mobile manipulator

et al. 2022

View full text Add to dashboard Cite

show abstract

“…Moreover, uncertainty (such as parameter uncertainty and external disturbances) may exist in robot manipulators, which can also deteriorate the system's performance. Some effective control schemes like computed torque control (CTC) (Perumalsamy et al, 2023) and backstepping control (Brahmi et al, 2018;Pan et al, 2018) are proposed. However, these schemes are model-based, which means that the tracking performance relies on the system dynamic model.…”

Section: Introductionmentioning

confidence: 99%

A novel generalized sliding mode controller for uncertain robot manipulators based on motion constraints

Wang,

Mei,

2024

Mech. Sci.

View full text Add to dashboard Cite

Abstract. To improve the trajectory tracking performance and robustness for uncertain robot manipulators, a generalized sliding mode controller (GSMC) including an ideal controller and a continuous sliding mode controller (SMC) is proposed from the standpoint of motion constraints. First, the trajectory tracking requirements are formulated as the motion constraints, based on which an ideal controller is proposed to satisfy the motion constraints for robot manipulators whose dynamics are precisely known. Second, an additional continuous SMC is presented to compensate for the effects of uncertainty, and the chattering phenomenon that commonly exists in the SMC can be avoided by the introduction of a smoothing function. Third, Lyapunov analysis is conducted to verify that the proposed GSMC enables the tracking error restricted to a small region around zero. Finally, the numerical simulation and experiment are performed to verify the effectiveness and superiority of the proposed GSMC.

show abstract

Computed Torque Control Method for Two-Axis Planar Serial Robotic Arm

Cited by 2 publications

References 6 publications

Robust trajectory tracking with non-singular terminal sliding mode control of a mobile manipulator

Robust trajectory tracking with non-singular terminal sliding mode control of a mobile manipulator

A novel generalized sliding mode controller for uncertain robot manipulators based on motion constraints

Contact Info

Product

Resources

About