Decentralized Adaptive Robust Control of Robot Manipulators Using Disturbance Observers

Yang, Zi‐Jiang; Fukushima, Youichirou; Qin, Pan

doi:10.1109/tcst.2011.2164076

Cited by 148 publications

(7 citation statements)

References 34 publications

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“…with: By invoking Theorems 1 and 2, inequalities in Equations ( 41) and ( 42) prove the global uniform asymptotic stability of the perturbed system equation (26). Accordingly, the following theorem can be actually stated: Theorem 3.…”

Section: Stability Analysismentioning

confidence: 97%

An adaptive finite‐time stable control law for manipulator robots with unknown parameters

Boutalbi

Benmahammed

Boukezata

2021

Intl J Robust & Nonlinear

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This article develops an adaptive finite-time stable control algorithm for an accurate manipulation of robot arms considering unknown model parameters and external disturbances. First, a state-dependent twisting control algorithm is developed for the robust manipulation of robot arms under the consideration of bounded unknown uncertainties conditions. The more challenging problem of robust control design under consideration of totally unknown dynamical parameters is investigated in a second stage by supporting the control law with a suitable online parameters estimator. The objective of the parameters estimator is to drive the vector of estimated parameters to some level that ensures the establishment of real second-order sliding mode without overloading the discontinuous controller gains. This approach based on combining both techniques of robust and adaptive algorithms allows overcoming large levels of uncertainties while preserving a high level of tracking accuracy without exciting the unwanted phenomena of chattering. The system finite-time stability is proven by using Lyapunov theory and the weighted homogeneity principle. Practical tests are reported to support theoretical study results. K E Y W O R D Sadaptive and robust control, finite-time stability, manipulator robots, second-order sliding mode control, twisting control algorithm 5218

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Section: Stability Analysismentioning

confidence: 97%

An adaptive finite‐time stable control law for manipulator robots with unknown parameters

Boutalbi

Benmahammed

Boukezata

2021

Intl J Robust & Nonlinear

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“…According to Assumption 4 in Obuz et al, 16 this article requires the input delay is bounded such that T \ T 0 , for t 2 R, and the time delay is differentiable and slowly changing, that is _ T ł d \ 1, for t 2 R, and T 0 , d are positive constants. Therefore, for multiple EL systems equation (1), there is no escape to infinity within the time interval ½t, t À T 0 . Furthermore, in Lemma 8, only d \ 1 to meet the strictness of Schur's complement Lemma 7 and Linear matrix inequality (LMI) algorithm.…”

Section: Stationary Leadermentioning

confidence: 99%

“…Multiple Euler-Lagrange (EL) system is one of the typical nonlinear multi-agent systems, which mainly solve the distributed coordinated control problem in the actual complex networked control system. In a large number of practical systems, the EL equation has been used to describe many complex dynamic models, 1,2 such as underwater vehicles, 3 electric vehicles, 4 formation control, 5,6 multi-robot system, 7 and aircraft. 8 Up to now, there have many works reported in tracking control of the multiple EL systems.…”

Section: Introductionmentioning

confidence: 99%

Distributed event-triggered consensus control for multiple Euler–Lagrange systems with transmission delay under directed networks

Zhao

Wang

Wei

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article addresses the distributed consensus control for multiple Euler–Lagrange systems under directed networks with time-varying transmission delays. Only some followers can access the information of the leader; communication is directed between agents. A distributed adaptive event-triggered control protocol is designed for the two cases where the generalized velocity of the leader is constant/time varying. When the generalized velocity of the leader is time varying, a distributed adaptive observer is designed to make followers obtain the time-varying information of the leader. Then, Lyapunov stability theory and the Linear matrix inequality algorithm prove the tracking errors can converge to zero in a completely distributed chattering-free manner. With the event-triggered mechanism, the number of communications can be decreased, and the system update frequency and the energy consumption can be reduced effectively. Meanwhile, the elimination of the Zeno behavior is also proved. Finally, the simulation results verify the effectiveness of the two controllers.

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“…For instance, Reference 18 showed a state feedback adaptive control algorithm to guarantee arbitrary transient performance as well as arbitrary disturbance attenuation. A decentralized adaptive robust controller for trajectory tracking of robot manipulators using a disturbance observer was reported in Reference 19, while in Reference 20 an uncertainty and disturbance estimation based robust trajectory tracking controller for rigid link manipulators was proposed. Two novel robust adaptive PID control schemes assuming known or unknown upper bound of the external disturbances were presented in Reference 21.…”

Section: Introductionmentioning

confidence: 99%

A GES joint position trajectory tracking smooth controller of torque‐driven robot manipulators affected by disturbances

Sandoval,

Cervantes‐Pérez,

Santibáñez

et al. 2023

Intl J Robust & Nonlinear

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SummaryThis paper presents a controller for joint position tracking of torque‐driven robot manipulators affected by torque disturbances. In particular, the proposed approach allows concluding global exponential stability (GES) of the state‐space origin of the closed‐loop system when constant disturbances affect the robot dynamics. Besides, when time‐varying disturbances are presented, the trajectories of the closed‐loop system are proven to be bounded as result of the input‐to‐state stability. The main contribution is the design of the control law and a nonlinear observer based on an alternative energy shaping approach. The nonlinear observer is designed to compute and compensate for unknown disturbances, whether they are constant or time‐varying. Furthermore, a detailed stability analysis of the closed‐loop system based on Lyapunov theory and input‐to‐state stability is presented. As far as the authors know, this is the first energy‐shaping controller for trajectory tracking control of robot manipulators affected by constant disturbances that achieves global exponential stability. Real‐time experiments on a manipulator arm of two degrees‐of‐freedom illustrate the performance of the proposed controller.

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Decentralized Adaptive Robust Control of Robot Manipulators Using Disturbance Observers

Cited by 148 publications

References 34 publications

An adaptive finite‐time stable control law for manipulator robots with unknown parameters

An adaptive finite‐time stable control law for manipulator robots with unknown parameters

Distributed event-triggered consensus control for multiple Euler–Lagrange systems with transmission delay under directed networks

A GES joint position trajectory tracking smooth controller of torque‐driven robot manipulators affected by disturbances

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