Model-free discrete-time fractional fuzzy control of robotic manipulators

Muñoz‐Vázquez, Aldo Jonathan; Treesatayapun, Chidentree

doi:10.1016/j.jfranklin.2021.12.011

Cited by 9 publications

(2 citation statements)

References 22 publications

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“…Nonetheless, its transient performance in the presence of disturbances may suffer due to the necessity of employing online learning techniques. On the other hand, the fuzzy logic control (FLC) technique is established on the basis of the expert's knowledge and experience [39,40], making them appealing for addressing complex control challenges. However, despite their effectiveness in handling complex systems, FLC approaches face significant challenges in stability analysis and require a comprehensive understanding of system requirements.…”

Section: Introductionmentioning

confidence: 99%

Observer-Based Fault-Tolerant Control for Uncertain Robot Manipulators without Velocity Measurements

Tran,

Nguyen,

et al. 2024

Actuators

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In recent years, robot manipulator arms have become increasingly prevalent and are playing pivotal roles across various industries. Their ability to replace human labor in arduous and hazardous tasks has positioned them as indispensable assets. Consequently, there has been a surge in research efforts aimed at enhancing their operational performance. The imperative to improve their efficiency and effectiveness has garnered significant attention within the research community. In this study, a novel fault-tolerant control (FTC) scheme for robot manipulators to handle the effects of the unknown input is proposed to aid robots in achieving good tracking performance. In the first step, an extended state observer (ESO) is constructed to approximate both velocities and the unknown input in the robot system. The observer offers estimation information with good accuracy and quick convergence. The estimated signals are then combined with computed torque control (CTC), which is a useful control technique for trajectory tracking of robot manipulator systems, to construct an active FTC to decrease the influences of the unknown input. The proposed algorithm does not require velocity measurement in the design process. In addition, with a novel design approach, the combination of controller and observer provides a novel control signal that delivers higher tracking performance compared to the traditional design approach. The global and asymptotic stability of the suggested technique is proved through the Lyapunov theory. Finally, simulations are implemented on a 2-degree-of-freedom (DOF) robot manipulator to validate the efficiency of the proposed controller–observer method.

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Section: Introductionmentioning

confidence: 99%

Observer-Based Fault-Tolerant Control for Uncertain Robot Manipulators without Velocity Measurements

Tran,

Nguyen,

et al. 2024

Actuators

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show abstract

“…To deal with the aforementioned lumped unknown input, many control methods have been developed, such as proportional-integral-derivative (PID) control [9,10], adaptive control [11], fuzzy control [12], neural network (NN) control [13] and sliding mode control (SMC) [14,15]. PID control is well-known as a simple and monotonic controller, which does not require the dynamic model of the robot system.…”

Section: Introductionmentioning

confidence: 99%

A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators

2022

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In this paper, a novel fault-tolerant control tactic for robot manipulator systems using only position measurements is proposed. The proposed algorithm is constructed based on a combination of a nonsingular fast terminal sliding mode control (NFTSMC) and a novel high-speed third-order sliding mode observer (TOSMO). In the first step, the high-speed TOSMO is proposed for the first time to approximate both the system velocity and the lumped unknown input with a faster convergence time compared to the TOSMO. The faster convergence speed is obtained thanks to the linear characteristic of the added elements. In the second step, the NFTSMC is designed based on a nonsingular fast terminal sliding (NFTS) surface and the information obtained from the proposed high-speed TOSMO. Thanks to the combination, the proposed controller–observer tactic provides excellent features, such as a fast convergence time, high tracking precision, chattering phenomenon reduction, robustness against the effects of the lumped unknown input and velocity requirement elimination. Especially, the proposed observer does not only improve the convergence speed of the estimated signals, but also increases the system dynamic response. The system’s finite-time stability is proved using the Lyapunov theory. Finally, to validate the efficiency of the proposed strategy, simulations on a PUMA560 robot manipulator are performed.

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Neural Network-Based Terminal Sliding Mode Controller Design for Manipulator Systems

Qu,

Fan,

Kang

et al. 2024

Mechanisms and Machine Science

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Model-free discrete-time fractional fuzzy control of robotic manipulators

Cited by 9 publications

References 22 publications

Observer-Based Fault-Tolerant Control for Uncertain Robot Manipulators without Velocity Measurements

Observer-Based Fault-Tolerant Control for Uncertain Robot Manipulators without Velocity Measurements

A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators

Neural Network-Based Terminal Sliding Mode Controller Design for Manipulator Systems

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