Disturbance observer‐based adaptive boundary iterative learning control for a rigid‐flexible manipulator with input backlash and endpoint constraint

Zhou, Xingyu; Wang, Haoping; Tian, Yang; Zheng, Gang

doi:10.1002/acs.3150

Cited by 33 publications

(25 citation statements)

References 36 publications

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“…However, considering the robotic manipulator affected by many factors such as mechanical structure clearance, internal damping, and external disturbance, the control torque being zero was not the only moment when the torque insensitivity characteristic appeared. [27][28][29] In References 27 and 28, the control backlash model was proposed to describe the phenomenon of robotic manipulator torque insensitivity.…”

Section: Introductionmentioning

confidence: 99%

Adaptive finite‐time super‐twisting sliding mode control for robotic manipulators with control backlash

Zhai

Karimi

2021

Intl J Robust & Nonlinear

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This article aims at the problem of trajectory tracking for industrial robotic manipulators with control backlash. An arctangent terminal sliding mode surface is developed to deal with the lumped disturbance and enhance the robustness of the system. A novel adaptive super-twisting sliding mode control method is developed to achieve fast convergence and continuous control. The chattering in control law is surmounted by using super-twisting method. The lumped disturbance with unknown upper bound is compensated with the help of the adaptive technique. Based on the Lyapunov stability theory, the sliding mode surface will be arrived in a finite time and the trajectory tracking error will converge to zero in a finite time. The feasibility of the proposed control scheme is validated through an example of a two-link robotic manipulator.

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Section: Introductionmentioning

confidence: 99%

Adaptive finite‐time super‐twisting sliding mode control for robotic manipulators with control backlash

Zhai

Karimi

2021

Intl J Robust & Nonlinear

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“…Just like the cyber-physical systems, they also have more nonparametric uncertainties [9] and complex factors, such as dynamic/static friction, joint flexibility, structural resonance modes, and drive dynamics, than the traditional flexible mechanical arms. Given the complex coupling relationship between the state variables of the rigid-flexible mechanical arms [10], the difficulty of modeling and vibration suppression is greatly increased. So far, many research studies on the modeling and deformation theory have been done by many researchers and achieved a series of results [11][12][13], for example, using finite element method, virtual modal method, and other methods to model flexible mechanical arm [14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Approximate Inertial Manifold‐Based Model Reduction and Vibration Suppression for Rigid‐Flexible Mechanical Arms

Deng

Lin

et al. 2021

Complexity

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The dynamic characteristics of the mechanical arm with a rigid-flexible structure are very complex. The reason is that it is a complex DPS (distributed parameter system) with infinite dimension and nonlinearity in essence due to the rigid-flexible coupling. So, accurately positioning and controlling the rigid-flexible mechanical arms could be difficult. Therefore, a model reduction method of rigid-flexible mechanical arms based on the approximate inertial manifold is put forward. To repress the residual vibration of the end of the mechanical arm, a feedforward control strategy is designed. The high-dimensional solution of the vibration equation of the rigid-flexible mechanical arms is projected into the complete space composed of orthogonal decomposition modes. By using Galerkin’s method, the system is simplified and the approximate solution is obtained through the interaction between high-order and low-order modes. The truncated finite mode is also used to construct a lowest-order dynamic model on the basis of approximate inertia manifold. Given the reduced-order rigid-flexible mechanical arms dynamic model, dynamic response analysis is conducted to optimize the target position error and end residual vibration. A limited number of sinusoidal signals approximately combine the input signal, by using the particle swarm optimization algorithm to optimize the input signal, and the amplitude of the sinusoidal signal is corrected. The simulation results depict the superiority of the proposed method, which greatly suppresses the end residual vibration of the mechanical arm and realizes the accurate positioning of the end of the mechanical arm. In addition, the hardware experimental device of the rigid-flexible mechanical arms is constructed, and the experimental verification of the above method is put into effect. The simulation results of angular displacement and end vibration of the reduced model are accordant which is shown by the experimental results of the hardware platform.

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“…It is essential for the stable operation of the manipulator systems to suppress external disturbances. In articles [17][18][19][20][21], the disturbance observers are designed to eliminate the influence of disturbances on the manipulator systems. Unfortunately, it is difficult to observe the disturbances in practical systems.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Bounded H Infinity Tracking Control of a Single-Joint Manipulator System with Input Saturation

chen

2021

Preprint

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Based on Lyapunov finite-time stability theory and backstepping strategy, we put forward a novel fixed-time bounded H infinity tracking control scheme for a single-joint manipulator system with input saturation. The main control objective is to maintain that the system output variable tracks the desired signal at fixed time. The advantages of this paper are the settling time of the tracking error converging to the origin is independent of the initial conditions, and its convergence speed is more faster. Meanwhile, bounded H infinity control is adopted to suppress the influence of the external disturbances on the controlled system. At the same time, the problem of input saturation control is considered, which effectively reduce the input energy consumption. Theoretical analysis shows that the tracking error of the closed-loop system converges to a small neighborhood of the origin within fixed time. In the end, a simulation example is presented to demonstrate the effectiveness of the proposed scheme.

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Disturbance observer‐based adaptive boundary iterative learning control for a rigid‐flexible manipulator with input backlash and endpoint constraint

Cited by 33 publications

References 36 publications

Adaptive finite‐time super‐twisting sliding mode control for robotic manipulators with control backlash

Adaptive finite‐time super‐twisting sliding mode control for robotic manipulators with control backlash

Approximate Inertial Manifold‐Based Model Reduction and Vibration Suppression for Rigid‐Flexible Mechanical Arms

Fixed-Time Bounded H Infinity Tracking Control of a Single-Joint Manipulator System with Input Saturation

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