Disturbance Observer-based Trajectory Following Control of Robot Manipulators

Homayounzade, Mohamadreza; Khademhosseini, Amir

doi:10.1007/s12555-017-0544-x

Cited by 48 publications

(17 citation statements)

References 27 publications

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“…As the highly coupled nonlinear characteristics, the actuator fault causes obvious effects on the system dynamics; therefore, they can be easily detected through monitoring abnormal system performances. Following the literature of actuator fault detection and isolation, and estimation, such fault can be considered as matched or mismatched disturbances and observed by using observers such as extended state observers (ESO) [15], [18], [19], disturbance observers (DO) [12], [20]- [22], uncertainty and disturbance estimator (UDE) [23], [24], time-delayed estimation (TDE) [25]- [27], super-twisting algorithm [28], Kalman estimators [29], unknown input observer [30], [31], etc. Then, Fault-tolerant control (FTC) that combines these observers compensation with advanced control algorithms such as active disturbance rejection control (ADRC) [32], [33], adaptive algorithms [34]- [36], or high robust gains can be employed to address the influence of the actuator fault.…”

Section: Introductionmentioning

confidence: 99%

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

et al. 2021

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This paper presents a fault-tolerant control (FTC) based on impedance control and full state feedback backstepping sliding mode control (FBSMC) algorithm for an n degree of freedoms (n-DOF) serial hydraulic manipulator under the presence of matched and mismatched uncertainties and sensor faults in the constrained framework. These faulty signals, generated from unknown constant or time-variant offset values, happen on both manipulator joint angles and force sensors; thereby degrading the system performance. Therefore, to address both matched and mismatched uncertainties and signal faults, the system dynamics subjects to the sensor faults is mathematically modeled. Then, the robust fault estimation algorithm based on extended state observer (ESO) is proposed to estimate the system state and faulty signals for the FTC design to achieve the force and position tracking performance. System stability of the proposed control scheme is theoretically proven by performing Lyapunov theorems. Finally, comparative simulation results are given on a 3-DOF serial hydraulic manipulator to evaluate the effectiveness of the proposed fault estimation and FTC methodology.INDEX TERMS Sensor fault estimation, extended state observer (ESO), fault-tolerant control (FTC), force control, impedance control.

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Section: Introductionmentioning

confidence: 99%

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

et al. 2021

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“…Therefore, the SMC methods mentioned above may fail to obtain satisfactory control performance for overhead crane systems suffering from unmatched disturbances. Regarding this topic, many modified methodologies have been substantially developed to suppress the unmatched disturbances, including the unknown input observer (UIO) (Hassani et al, 2017), disturbance observer (DOB) (Homayounzade and Khademhosseini, 2019; Lu et al, 2017), uncertainty and disturbance estimator (UDE) (Deepika et al, 2019; Londhe et al, 2017; Ren et al, 2015) and extended state observer (ESO) (Cui et al, 2016; Guo and Wu, 2017; Zhao et al, 2017). Note that all of these techniques require some plant information when overcoming the disturbances, and among them, the ESO is the one that uses less information as only the system relative degree should be known.…”

Section: Introductionmentioning

confidence: 99%

Moving sliding mode controller for overhead cranes suffering from matched and unmatched disturbances

Wei-min

2020

Transactions of the Institute of Measurement and Control

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In this paper, a novel time-varying gain extended state observer (ESO)-based moving sliding mode control method is proposed for anti-sway and positioning control of two-dimensional underactuated overhead cranes. The designed moving sliding mode surface can adjust its slope in real time according to the state variable errors; in addition, a dynamic exponential term is added into the moving sliding mode surface so as to drive any initial state variable errors into the sliding surface rapidly, and thereby the robustness of crane systems is improved. Then, a chattering-free reaching law is designed to realize fast convergence of the system state errors, and the input is modelled as a saturated one due to the fact the motor torque is bounded and the control law and adaptive updating law of switching gain are derived in the sense of Lyapunov function, so the stability can be guaranteed even under the input saturation. Moreover, to suppress the matched and unmatched disturbance occurring in crane dynamic systems, a time-varying gain ESO is constructed to estimate the lumped disturbance, then the estimated value is used for feedforward compensation to establish the controller. Finally, the simulation results confirm the effectiveness of the proposed controller.

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“…The observer-based control techniques exploit the compensation control structure of manipulator, and effective techniques have been developed. 7–10 Meanwhile, the observer-based sliding mode control (OBSMC) chattering can be reduced by decreasing the switching gain without sacrifice of the disturbance rejection ability of sliding mode control (SMC). In reality, an excess of control effort will be expended for suppressing the transients due to system uncertainties, if the developed approaches rely heavily on this conservative upper bound.…”

Section: Introductionmentioning

confidence: 99%

Adaptive nonlinear observer–based sliding mode control of robotic manipulator for handling an unknown payload

Wang

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents the control synthesis of robotic manipulators with an unknown constant payload. A novel nonlinear disturbance observer with an adaptive scheme is designed to estimate the external force induced by the unknown constant payload. A general design procedure for designing the gain of the nonlinear observer is developed rather than the time-consuming trials and error to choose proper gain. The nonlinear observer gain is designed using an adaptive technique to extend the applicability of the disturbance observer. The stability of the proposed observer is established using Lyapunov method under certain conditions. The proposed nonlinear disturbance observer will be integrated with the sliding mode control to substantially alleviate the chattering problem. Also, simulation results are presented to verify the effectiveness of the proposed methods.

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Disturbance Observer-based Trajectory Following Control of Robot Manipulators

Cited by 48 publications

References 27 publications

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

Moving sliding mode controller for overhead cranes suffering from matched and unmatched disturbances

Adaptive nonlinear observer–based sliding mode control of robotic manipulator for handling an unknown payload

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