Output torque tracking control of direct-drive rotary torque motor with dynamic friction compensation

Wang, Xingjian; Wang, Shaoping

doi:10.1016/j.jfranklin.2015.08.021

Cited by 15 publications

(4 citation statements)

References 33 publications

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“…Up to present, extensive researches have been conducted aiming at the control of nonlinear systems such as active suspension systems, multilateral teleoperation systems, systems with friction, and systems with nonsymmetric dead-zone. [12][13][14][15][16] For pneumatic artificial muscle actuated systems, to improve position tracking performance, many intelligent controllers are proposed: from nonlinear proportional-integral-derivative (PID) controller 17 to fuzzy controller, 18 from neural network controller 19 to adaptive robust controller, 20 and from sliding mode controller 21,22 to hybrid controller. 23,24 However, these controllers have some shortcomings such as dependence on model accuracy and heavy computation load.…”

Section: Introductionmentioning

confidence: 99%

Position control of a bio-inspired semi-active joint with direct inverse hysteresis modeling and compensation

Liu

Zang

Lin

et al. 2016

Advances in Mechanical Engineering

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Accurate position control of pneumatic artificial muscle actuated systems has always been difficult due to their inherent nonlinear hysteresis characteristics. This article designs a bio-inspired semi-active robotic joint that is synergistically driven by a pneumatic artificial muscle and an extension spring by imitating the mechanism of energy storage and return in animals and then studies its position tracking control with hysteresis compensation. To simplify the derivation of the inverse hysteresis model which functions as hysteresis compensator, a novel approach termed as direct inverse hysteresis modeling is adopted. With this method, the inversion of the asymmetric angle-pressure hysteresis of the semi-active joint is modeled directly from experimental measurements by a modified Prandtl-Ishlinskii model. On the basis, a closed-loop position tracking controller composed of forward hysteresis compensation and conventional proportionalintegral-derivative control is designed for the joint. Experimental results indicate that the proposed controller can track the reference position signals with high accuracy.

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Section: Introductionmentioning

confidence: 99%

Position control of a bio-inspired semi-active joint with direct inverse hysteresis modeling and compensation

Liu

Zang

Lin

et al. 2016

Advances in Mechanical Engineering

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“…Most of these are reasonable characteristics of a model illustrating friction. Parameters of LuGre friction model are obtained from literature [26] and are given in Table 1.…”

Section: Mathematical Modellingmentioning

confidence: 99%

Control of an Anthropomorphic Manipulator using LuGre Friction Model - Design and Experimental Validation

Ali

Mehmood

Muhammad

et al. 2021

SV-JME

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Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic rducational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform.

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“…The estimated friction state derivative z F , which corresponds to the designed observer in (7) consists of two components: one is from the estimated friction state ẑF and the further from the switched sliding surface. The LuGre friction model parameters were acquired from the literature [21] and are shown in Table . I.…”

Section: Friction Observermentioning

confidence: 99%

Terminal Sliding Mode Control of an Anthropomorphic Manipulator with Friction Based Observer

Ali

Mehmood

Iqbal

2021

2021 International Conference on Robotics and Automation in Industry (ICRAI)

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The role of modern control techniques has been instrumental in today's robotic applications because of their increasing requirements for reliability, accuracy, productivity and repeatability. Robotic manipulators are highly non-linear systems with coupled dynamics and thus are vulnerable to a lot of disturbances such as unknown payloads, dynamics that the model and joint friction do not predict. To achieve superior performance and reliability in the presence of friction, this research proposes a robust control algorithm for a five-degree-of-freedom (DoF) robotic manipulator. The dynamic LuGre friction model is used to develop the robot's dynamic model. A sliding mode observer (SMO) is proposed for the estimation of the internal friction state of the LuGre model. The friction and load torque are based on an estimated state to compensate for unidentified friction. A Lyapunov candidate function is used to check the stability of the controller with the SMO. The proposed control methodology has been designed and implemented in MATLAB/Simulink environment to illustrate the tracking of various trajectories. This study's outcomes proved that the proposed control law with model-based friction compensation is effective and efficient.

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Output torque tracking control of direct-drive rotary torque motor with dynamic friction compensation

Cited by 15 publications

References 33 publications

Position control of a bio-inspired semi-active joint with direct inverse hysteresis modeling and compensation

Position control of a bio-inspired semi-active joint with direct inverse hysteresis modeling and compensation

Control of an Anthropomorphic Manipulator using LuGre Friction Model - Design and Experimental Validation

Terminal Sliding Mode Control of an Anthropomorphic Manipulator with Friction Based Observer

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