Extended high-gain observer based adaptive control of flexible-joint surgical robot

Zou, Shuizhong; Pan, Bo; Fu, Yili; Guo, Shuxiang

doi:10.1109/robio.2016.7866644

Cited by 3 publications

(3 citation statements)

References 13 publications

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“…In practical applications, it is often necessary for flexible joint manipulator (FJM) to follow a prescribed trajectory. To obtain accurate motion, researchers have investigated various control methods for the FJM, e.g., adaptive control [6,7], sliding mode control [8,9], neural network control [10,11], boundary control [12], fuzzy logic control [13,14], and so on. However, the design of the controllers mentioned above are all model-based, and controllers achieve the expected tracking performance only if the model and the parameters are completely available.…”

Section: Introductionmentioning

confidence: 99%

“…In the past decades, the theory of constraint-following control in the research of trajectory tracking control has been of interest to many scholars. Compared with the aforementioned researches [6][7][8][9][10][11][13][14][15][16], there is a significant difference: the concept of such researches is to make the tracking error approaches to zero so that the motion of FJM approaches to the prescribed trajectory. However, the theory of constraint-following control regards the trajectories as virtual force constraints.…”

Section: Introductionmentioning

confidence: 99%

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Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty

Dong

Zhao

et al. 2021

Machines

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Trajectory tracking is a common application method for manipulators. However, the tracking performance is hard to improve if the manipulators contain flexible joints and mismatched uncertainty, especially when the trajectory is nonholonomic. On the basis of the Udwadia–Kalaba Fundamental Equation (UKFE), the prescribed position or velocity trajectories are creatively transformed into second-order standard differential form. The constraint force generated by the trajectories is obtained in closed form with the help of UKFE. Then, a high-order fractional type robust control with an embedded fictitious signal is proposed to achieve practical stability of the system, even if the mismatched uncertainty exists. Only the bound of uncertainty is indispensable, rather than the exact information. A leakage type of adaptive law is proposed to estimate such bound. By introducing a dead-zone, the control will be simplified when the specific parameter enters a certain area. Validity of the proposed controller is verified by numerical simulation with two-link flexible joint manipulator.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty

Dong

Zhao

et al. 2021

Machines

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show abstract

“…Control of robot manipulators has attracted a great deal of attentions in the past few decades, due to its wide application in industrial manufacturing [1], military [2], medical [3], and other fields [4]. Some promising results studying robot manipulators have been reported in [5][6][7][8][9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties

et al. 2020

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In this paper, we mainly solve the adaptive control problem of robot manipulators with uncertain kinematics, dynamics, and actuators parameters, which has been a long-standing, yet unsolved problem in the robotics field, because of the technical difficulties in handling highly coupled effect between control torque and the mentioned uncertainties. To overcome the difficulties, we propose a new Lyapunov-based adaptive control methodology, which effectively fuses the inverse Jacobian technique and the actuator adaptation law, with which the chattering in tracking errors caused by actuator parameter perturbation is well suppressed. It is demonstrated that the asymptotic convergence of all closed-loop signals is guaranteed. Moreover, the effectiveness of our control scheme is illustrated through simulation studies.

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Robust Tracking Controller for Quadrotor Based on Flatness and High Gain Observer

Abadi

Mekki

Ramdani

2019

2019 19th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

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Extended high-gain observer based adaptive control of flexible-joint surgical robot

Cited by 3 publications

References 13 publications

Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty

Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty

Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties

Robust Tracking Controller for Quadrotor Based on Flatness and High Gain Observer

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