Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators

Nicolis, Davide; Allevi, Fabio; Rocco, Paolo

doi:10.1109/tro.2020.2974092

Cited by 68 publications

(37 citation statements)

References 18 publications

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“…The stability of SMC is not guaranteed during the reaching phase. As it can be seen in (40), to keep the system stable the magnitude of the switching gain (K) should be higher than the magnitude of the perturbation (41). The information about the upper bound of perturbation should be known to the designer which is itself a tedious task.…”

Section: ) Stability Not Guaranteedmentioning

confidence: 99%

“…SMC is robust and has good performance against perturbation. There are many practical applications of SMC includes; motor driver, robot position control, and underwater vehicles [24][25][26][27][28][29][30][31][32][33][34][35][36][37][38][39][40][41][42][43]. In SMC the main idea is to design the sliding surface and move the system states to the designed sliding surface [44][45][46].…”

Section: Introductionmentioning

confidence: 99%

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Robust Control Design for Accurate Trajectory Tracking of Multi-Degree-of-Freedom Robot Manipulator in Virtual Simulator

et al. 2022

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Robot manipulators have complex dynamics and meanwhile are affected by significant uncertainties and external disturbances (perturbation). Accordingly, it is a tedious task to determine the exact mathematical model of a robot manipulator. Therefore, accurate trajectory tracking is one of the dominant features in the design of position control for robot manipulators. In this research, the main objective is to design a robust and accurate position control for a robot manipulator even in case of without exact model. For this purpose, extended state observer (ESO) based sliding mode control (SMC) is proposed to achieve the desired goal. In ESO, the main concept is to define and estimate the assumed perturbation which includes known and un-known system dynamics, uncertainties, and external disturbances. Additionally, ESO also estimates the system states. This estimated perturbation information has been used as feedback term to compensate the effect of actual perturbation, which is combined with SMC input. The perturbation compensation has improved controller performance resulting in small position error, less sensitive to perturbation, and small switching gain required for SMC. The advantage of the proposed algorithm is that it requires only partial state information, position feedback. Thus, there is no need to identify the system parameters for nominal model before the controller design. The proposed algorithm is implemented and compared with conventional SMC, and sliding mode control with sliding perturbation observer (SMCSPO) in MATLAB SimMechanics based virtual environment. The comparison results validate the robustness of the proposed technique in the presence of perturbation and show a more reduced trajectory tracking error than the conventional SMC and SMCSPO.

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Section: ) Stability Not Guaranteedmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Control Design for Accurate Trajectory Tracking of Multi-Degree-of-Freedom Robot Manipulator in Virtual Simulator

et al. 2022

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show abstract

“…Incidentally, the proposed WBC framework has been already implemented and experimented in the actual humanoid COMAN+ with RT-OS system and multi-threading, called XbotCore [28] (refer to supplementary media of this paper for details of experimental setup and results.) Another future work will aim at exploiting control schemes coping with modeling error and disturbance for robustness and control accuracy, e.g., [36], [37].…”

Section: Concluding Remark and Open Problemmentioning

confidence: 99%

A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization

et al. 2021

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This paper presents practical enhancements of the operational space formulation (OSF) to exploit inequality constraints for whole-body control of a high degree of freedom robot with a floating base and multiple contacts, such as humanoids. A task-oriented optimisation method is developed to obtain a feasible torque resolution solely for task variables based on the OSF, which effectively reduces the number of optimisation variables. Interestingly, the proposed scheme amends assigned tasks on demand of satisfying inequality conditions, while dynamic consistency among contact-constrained tasks is preserved. In addition, we propose an efficient algorithm structure ameliorating real-time control capability which has been a major hurdle to transplant optimisation methods into the OSF-based whole-body control framework. Control performance, the feasibility of the optimised solution, and the computation time of the proposed control framework are verified through realistic dynamic simulations of a humanoid. We also clarify the pros and cons of the proposed method compared with existing optimisation-based ones, which may offer an insight for practical control engineers to select whole-body controllers necessitated from the desired application.

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“…e inherent low-level position controller is sustained, which helps the manipulator keep a consistent control structure with normal trajectory tasks. Other control methods such as sliding mode control techniques [30] and neural-networkbased adaptive control techniques [31] have been proposed by mainly focusing on the model uncertainties. A new integral sliding mode control strategy that can completely reject matched perturbation while not amplifying the unmatched one is proposed in [32].…”

Section: Introductionmentioning

confidence: 99%

Sensorless Whole-Body Compliance Control of Collaborative Manipulator Based on Haptic Filter and Position Controller

Wang

Jin

Zhao

et al. 2021

Mathematical Problems in Engineering

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This study presents a cost-effective sensorless whole-body compliance control strategy for collaborative manipulator. The control strategy realizes decoupled adjustable compliant effects, namely, stiffness, damping, and inertia controls, under a single control framework. The inherent position controller is retained, which ensures a smooth transition between normal position operation and compliance control. The two features can greatly simplify the customization of collaborative manipulator control algorithms. A modified sensorless disturbance observer based on generalized momentum is used to estimate the external torque, and this way eliminates the dependence on the force/torque sensors. Only basic motor position sensors are required. The compliant trajectory generated by the external torque is sufficiently smooth owing to the haptic filter. Various experiments prove that the modified sensorless disturbance observer is effective. The necessity of using the position servo loop for sensorless compliance control is discussed through a comparative experiment. The proposed compliance control strategy is further verified using sensorless and sensor-based disturbance observers.

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Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators

Cited by 68 publications

References 18 publications

Robust Control Design for Accurate Trajectory Tracking of Multi-Degree-of-Freedom Robot Manipulator in Virtual Simulator

Robust Control Design for Accurate Trajectory Tracking of Multi-Degree-of-Freedom Robot Manipulator in Virtual Simulator

A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization

Sensorless Whole-Body Compliance Control of Collaborative Manipulator Based on Haptic Filter and Position Controller

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