Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

Gao, Heli

doi:10.1177/0142331220983637

Cited by 11 publications

(3 citation statements)

References 58 publications

(71 reference statements)

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“…The sensor-less force sensing mainly focus on model-based force estimation method and data learning [22,23]. For example, Chen et al [24] proposed a nonlinear disturbance observer to estimate the external disturbance force.…”

Section: Grinding Force Estimation and Control Of Grinding Robot With...mentioning

confidence: 99%

Grinding Force Estimation and Control of Grinding Robot with Variable Impedance Control Strategy

Xu,

Wang,

Yin

2024

Preprint

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Due to the unstable contact force during robot grinding results in an inconsistent material removal rate and leads to poor surface quality and reduced machining accuracy. In this work, an independently controlled grinding end-effector was designed to improve the cutting stability and maintain a constant contact force during the robot grinding process. To reduce the influence of vibration force noise on the measurement data and reduce the complexity of the control system, an online estimation method of external grinding force based on generalized momentum is proposed. To keep the grinding force stable, a robot grinding dynamics model and a grinding contact force compensation model are developed, and a variable impedance grinding control strategy without considering the stiffness of work piece is proposed to maintain a consistent normal grinding force and guarantee the stability of material removal rate. Finally, an experimental study was conducted to evaluate the effectiveness of this robotic grinding system. The experimental results show that the force estimator can accurately estimate the grinding contact force, as well as the proposed robot grinding system works well for different work piece contours while maintaining consistent normal grinding force, and the relative average roughness is reduced by 38%.

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Section: Grinding Force Estimation and Control Of Grinding Robot With...mentioning

confidence: 99%

Grinding Force Estimation and Control of Grinding Robot with Variable Impedance Control Strategy

Xu,

Wang,

Yin

2024

Preprint

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“…In [29], a reduced-order observer is raised to gauge the uncertainty in the system, and realizes the tracking of the position of the manipulator in a limited time. In [30], the extended state observer is improved, and a fixed-time extended state disturbance observer is proposed, which ensures the high accuracy tracking control of the two-link manipulator.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fractional-Order Non-Singular Fast Terminal Sliding Mode Control Based on Fixed Time Disturbance Observer for Manipulators

Zhang

Quan

2022

IEEE Access

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In this study, with the help of a disturbance observer, an adaptive fractional-order sliding mode control scheme is designed to achieve trajectory tracking control of indeterminate manipulators. Firstly, the fractional-order non-singular fast terminal sliding mode (FO-NFTSM) surface is presented to increase the convergence velocity of the controller. Secondly, the adaptive reaching law is designed on the strength of the super-twisting algorithm to ensure the control performance of the approaching stage. Meanwhile, aiming at the compound disturbance existing in the manipulator system, an adaptive fixed-time sliding mode disturbance observer (AFSMDO) is introduced to settle the problem, which can estimate the lumped disturbance in real-time. Moreover, compensate for the system and raise the precision of the controller. The Lyapunov method is applied to certify the stability of the control system. Simulation experiments verify the superior property of the controller designed in this article.

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“…However, the simulation verification of this method on a 2-DOF robot manipulator cannot show the application effect on redundant robots that are widely used in industry. Gao and Chen [ 11 ] proposed a fixed-time extended state disturbance observer and proved its stability by improving the extended state observer. However, while this method can make the robot complete the task in a limited time, the global trajectory tracking accuracy cannot be guaranteed.…”

Section: Introductionmentioning

confidence: 99%

A Modified Robotic Manipulator Controller Based on Bernstein-Kantorovich-Stancu Operator

Zhang

Wang

2022

Micromachines

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With the development of intelligent manufacturing and mechatronics, robotic manipulators are used more widely. There are complex noises and external disturbances in many application cases that affect the control accuracy of the manipulator servo system. On the basis of previous research, this paper improves the manipulator controller, introduces the Bernstein–Kantorovich–Stancu (BKS) operator, and proposes a modified robotic manipulator controller to improve the error tracking accuracy of the manipulator controller when observing complex disturbances and noises. In addition, in order to solve the problem that the coupling between the external disturbances of each axis of the manipulator leads to a large amount of computation when observing disturbances, an improved full-order observer is designed, which simplifies the parameters of the controller combined with the BKS operator and reduces the complexity of the algorithm. Through a theoretical analysis and a simulation test, it was verified that the proposed manipulator controller could effectively suppress external disturbance and noise, and the application of the BKS operator in the manipulator servo system control is feasible and effective.

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Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

Cited by 11 publications

References 58 publications

Grinding Force Estimation and Control of Grinding Robot with Variable Impedance Control Strategy

Grinding Force Estimation and Control of Grinding Robot with Variable Impedance Control Strategy

Adaptive Fractional-Order Non-Singular Fast Terminal Sliding Mode Control Based on Fixed Time Disturbance Observer for Manipulators

A Modified Robotic Manipulator Controller Based on Bernstein-Kantorovich-Stancu Operator

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