Dedicated Nonlinear Control of Robot Manipulators in the Presence of External Vibration and Uncertain Payload

Abstract

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This paper presents two approaches to solve this problem. The approaches consider joint space tracking control design in the presence of nonlinear uncertain torques caused by external vibration and payload variation. The properties of the uncertain torques are used in both approaches. The first approach is based on the boundedness property, while the second approach considers the differentiability and boundedness together. The controllers derived from each approach differ from the perspectives of accuracy, control effort, and disturbance properties. A Lyapunov-based analysis is utilized to guarantee the stability of the control design in each case. Simulation results validate the approaches and demonstrate the performance of the controllers. The derived controllers show stable results at the cost of the mentioned properties.

Cascade Synthesis of Observers of Mixed Variables for Flexible Joint Manipulators Tracking Systems under Parametric and External Disturbances

“…. , 4, but also their corrective actions (16). Thus, we can use the corrective actions of the i-th block to form corrective actions in the (i + 1)-th block, i = 1, .…”

“…Under nonzero initial conditions in system (15), the transient process of observational errors and their derivatives lasts for some time. Stabilization of each next variable is possible only after stabilization of all previous variables in the specified order (16), i.e., the total transient time of the next vector variable is greater than the previous one. Thus, the total evaluation time T (i.e., the stabilization time of all specified variables) is the time of the transient process .…”

Identification and Machine Learning Prediction of Nonlinear Behavior in a Robotic Arm System

“…They also applied sliding mode control based on the Lyapunov approach, and a state-dependent Riccati equation-based optimal controller was also designed. Mustafa et al [9] proposed joint space tracking control design in the presence of uncertain nonlinear torque caused by external vibration and payload variation. A Lyapunov-based method was utilized to guarantee the stability and control.…”

Adaptive-Sliding Mode Trajectory Control of Robot Manipulators with Uncertainties

“…The authors of (Mustafa, Hamarash and Crane, 2020), propose two nonlinear control approaches to control the position/displacement of robot manipulators in the presence of disturbance torques due to vibration and payload variation. In both proposed approaches the tracking error approaches zero or a region around zero.…”

“…Then, the disturbances are rejected separately by sliding mode control. The same disturbances that are formed for the first approach in (Mustafa, Hamarash and Crane, 2020) are called in this work to test the designed controller.…”