Finite time control of robotic manipulators with position output feedback

Abooee, Ali; Khorasani, Masoud Moravej; Haeri, ءMohammad

doi:10.1002/rnc.3721

Cited by 41 publications

(25 citation statements)

References 39 publications

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“…To effectively settle this issue, a novel STA with TDE was proposed for robot manipulators recently . Exciting results were reported with this method, but improvement can still be made for better performance in the following two aspects: (1) the robust term used in the work of Kali et al, was traditional SM control with linear error dynamics, which may result in slow convergence and low control accuracy around the equilibrium point, and it has been demonstrated that terminal SM (TSM) control can ensure better control performance than the traditional SM one; and (2) the standard STA was used and may lead to relative poor performance under the situation that system states are far from the equilibrium point.…”

Section: Introductionmentioning

confidence: 99%

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Wang

Yan

Zhu

et al. 2019

Intl J Robust & Nonlinear

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In this paper, a new practical robust control scheme is proposed and investigated for the cable-driven manipulators under lumped uncertainties. There are three parts in the proposed method, ie, a time-delay estimation (TDE) part, a modified super-twisting algorithm (STA) part, and a fractional-order nonsingular terminal sliding mode (FONTSM) error dynamics part. The TDE uses intentionally time-delayed system signals to estimate the lumped dynamics of the system and ensures an attractive model-free control structure. The STA is applied to guarantee high performance and chattering suppression simultaneously in the reaching phase. The FONTSM error dynamics is utilized to obtain fast convergence and strong robustness in the sliding mode phase. Thanks to the above three parts, the proposed control scheme is model free and can ensure high control performance under lumped uncertainties. The stability considering the FONTSM error dynamics and modified STA scheme is analyzed. Comparative simulation and experiments were conducted to demonstrate the effectiveness and superiorities of the newly proposed control scheme. Corresponding experimental results show that our newly proposed control scheme can provide more than 20% improvement of the steady control accuracy under three different reference trajectories. KEYWORDS cable-driven manipulators, fractional order, model free, nonsingular terminal sliding mode, super-twisting algorithm (STA), time-delay estimation (TDE) INTRODUCTIONRobot manipulators have been widely utilized in many practical fields benefitting from their excellent capability to execute automatic tasks. 1-4 Usually, the drive motors are directly installed in the joints to simplify the system structure and obtain good control accuracy, which in turn will bring in high stiffness and big moving inertia. This design performs well for the industrial applications, but it will not be safe for the physical interactions with human due to the high stiffness and large moving mass. Therefore, the cable-driven manipulators were proposed and utilized to efficiently settle the above issue. 5 Compared with the widely used classical robot manipulators, the cable-driven ones have much lower stiffness and smaller moving mass, which can effectively guarantee the safety for physical interactions with human. Due to above obvious advantages, cable-driven manipulators have been widely used in medical care, flexible manufacturing, and academic studies. [6][7][8][9][10][11][12] Int J Robust Nonlinear Control. 2019;29:3405-3425.wileyonlinelibrary.com/journal/rnc

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Section: Introductionmentioning

confidence: 99%

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Wang

Yan

Zhu

et al. 2019

Intl J Robust & Nonlinear

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“…Since this work is an extension of the work in [25], the finite time robust controller (FTRC) presented in [25] is selected for the comparisons. The control gains of the FTRC in [25], NFTSMC (11), and ANFTSMC (21) are given in TABLE 1. The simulation results under the three controllers are shown in Figures 2-4.…”

Section: Simulationmentioning

confidence: 99%

“…Finite-time convergence can stabilize system states to equilibrium points in a finite time, which is superior to asymptotic stability or aconvergence [9]- [11].…”

Section: Introductionmentioning

confidence: 99%

“…The discontinuous term sign (s) exists in the control laws(11) and(21), which will lead to the undesirable chattering. This problem can be solved by replacing the term sign (s) by a saturation functionsat (s) = sign (s) , if s ≥ ε s/ε, if s < ε.Considering the spacecraft system (1) under Assumptions 1-3, the control law (21) with the adaptive law (22) can guarantee that the sliding mode s = 0 is established in finite time.…”

mentioning

confidence: 99%

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Adaptive Nonsingular Terminal Sliding Mode Control for Attitude Tracking of Spacecraft With Actuator Faults

Jing

Niu

et al. 2019

IEEE Access

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In this paper, an adaptive nonsingular terminal sliding mode control (ANTSMC) is investigated for attitude tracking of spacecraft with actuator faults. First, a nonsingular fast terminal sliding mode surface is designed to avoid the singularity. Finite-time attitude control is developed using the nonsingular terminal sliding mode technique, which can make the attitude and angular velocity tracking errors converge to zero in finite time in the presence of uncertainties and external disturbances. Second, the total uncertainty is deduced to be bounded. The adaptive laws are incorporated to develop the ANTSMC, removing the restriction on the upper bound of the lumped uncertainty. The finite-time convergence of the closed-loop system with ANTSMC is proved using the Lyapunov stability theory. Finally, the simulation results are presented to demonstrate the performance of the proposed controllers. INDEX TERMS Spacecraft, nonsingular terminal sliding mode, adaptive, finite time, attitude control, actuator faults.

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“…[15][16][17][18][19][20] Originally, linear error dynamics were combined with TDE leading to asymptotic stability, which, however, is not robust enough for some complex systems under strong lumped disturbance. Thus, the terminal sliding mode (TSM) control and its improved version, [21][22][23][24][25][26][27] which can ensure finite-time stability and high tracking precision, were integrated with TDE. [28][29][30] These TDE-based TSM controllers can effectively take advantage of TDE and TSM techniques, resulting in model-free robust controllers while still conquering the practical limitations of their own.…”

Section: Introductionmentioning

confidence: 99%

Practical adaptive fractional‐order nonsingular terminal sliding mode control for a cable‐driven manipulator

Wang

Yan

et al. 2018

Intl J Robust & Nonlinear

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For the high precise tracking control purpose of a cable-driven manipulator under lumped uncertainties, a novel adaptive fractional-order nonsingular terminal sliding mode control scheme based on time delay estimation (TDE) is proposed and investigated in this paper. The proposed control scheme mainly has three elements, ie, a TDE element applied to properly compensate the lumped unknown dynamics of the system resulting in a fascinating model-free feature; a fractional-order nonsingular terminal sliding mode (FONTSM) surface element used to ensure high precision in the steady phase; and a combined reaching law with adaptive technique adopted to obtain fast convergence and high precision and chatter reduction under complex lumped disturbance. Stability of the closed-loop control system is analyzed with the Lyapunov stability theory. Comparative simulations and experiments were performed to demonstrate the effectiveness of our proposed control scheme using 2-DOF (degree of freedom) of a cable-driven manipulator named Polaris-I. Corresponding results show that our proposed method can ensure faster convergence, higher precision, and better robustness against complex lumped disturbance than the existing TDE-based FONTSM and continuous FONTSM control schemes. KEYWORDS adaptive control, cable-driven manipulator, fractional-order, nonsingular terminal sliding mode (NTSM), time delay estimation (TDE) 1396

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Finite time control of robotic manipulators with position output feedback

Cited by 41 publications

References 39 publications

A new practical robust control of cable‐driven manipulators using time‐delay estimation

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Adaptive Nonsingular Terminal Sliding Mode Control for Attitude Tracking of Spacecraft With Actuator Faults

Practical adaptive fractional‐order nonsingular terminal sliding mode control for a cable‐driven manipulator

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