Passivity-based tracking control of robot manipulators with torque constraints

Peñaloza-Mejía, Ollin; Ojeda-Perez, C. P.; Estrada-García, H. J.

doi:10.1109/aim.2016.7576891

Cited by 6 publications

(5 citation statements)

References 8 publications

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“…We then progressively decrease these values until we achieve the desired tracking performance while keeping chattering within an acceptable range. This iterative process allows us to strike a balance between control accuracy and the presence of chattering, ensuring satisfactory performance of the passivity-based controller [119][120][121].…”

Section: Robust Passivity-based Bilateral Teleoperation Controller De...mentioning

confidence: 99%

Robust Passivity-based Nonlinear Controller Design for Bilateral Teleoperation System under Variable Time Delay and Variable Load Disturbance

Uyulan

2023

Preprint

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The communication pathways between the master and slave play a crucial role in determining the performance of a bilateral system. This research focuses on implementing a robust passivity-based nonlinear control method for the bilateral/teleoperation system. The algorithm addresses the issues of variable communication and control delays plus load disturbance in the feedback, which can lead to instability and reduced transparency, and also handles the parameter changes in the system. To tackle these problems, we propose a controller that incorporates a second-order super-twisting sliding-mode observer to counteract the effects of communication and control delays in the feedback loop. Additionally, a sliding mode assist disturbance observer is used for compensating the load torque variations. A robust passivity-based nonlinear controller has been investigated for this problem, with a particular emphasis on compensating for random/constant time delays through a disturbance rejection strategy. This control method aims to ensure stability and transparency while accounting for time-varying delays. Furthermore, the controller compensates for load torque variations on the slave side through load estimation. The system model consists of two interconnected direct-drive motors. One motor represents a specific joint actuator of the robot, while the other motor emulates the overall dynamics affecting the joint through torque control. This actuator-dynamics load pair enables real-time simulation of any robotic configuration without the physical presence of the robot. The proposed approach utilizes a nonlinear controller framework to reframe the complex bilateral control problem as a means of controlling the interactive dynamic system. This approach simplifies the solution and significantly improves stability and transparency performance. To evaluate the system's behavior and controller performance, various computer simulations are performed using step and sinusoidal inputs. The simulations demonstrate a satisfactory level of accuracy and transparency between the estimated and actual slave positions, even in the presence of constant/random measurement delays and variable/step-type load variations on the slave side. These findings provide strong support for implementing this approach in real-time internet-based bilateral control systems.

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Section: Robust Passivity-based Bilateral Teleoperation Controller De...mentioning

confidence: 99%

Robust Passivity-based Nonlinear Controller Design for Bilateral Teleoperation System under Variable Time Delay and Variable Load Disturbance

Uyulan

2023

Preprint

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“…then there exists a sequence ℘ = {t s p k k } s p k ,k∈N such that the closed-loop system formed by (28) and (30) is stable under the switching law (x(t)) = arg min…”

Section: Stabilization Of a Passive Switched System Using The Sis Tecmentioning

confidence: 99%

“…Therefore, system (35) is passive with storage function H when we consider the input-output map u  → . q (see the work of Peñaloza-Mejía et al 30 for more details).…”

Section: Examplementioning

confidence: 99%

Passivity‐based asymptotic stabilization for switched nonlinear systems using the sampled integral stabilization technique

Wang

Zhao

2019

Intl J Robust & Nonlinear

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The asymptotic stabilization problem is studied for a cascade connection of passive switched nonlinear systems and a passive switched nonlinear system in this paper. When each subsystem is asymptotically zero state detectable and passive on active time intervals, asymptotic stabilization is achieved via co-design of switching laws and controllers without damping injection. First, an output-feedback controller is designed to asymptotically stabilize a cascade connection of two passive switched systems if outputs are measurable. Second, when the output of the first switched system is noisy or unmeasurable, a sampled integral stabilization (SIS) technique is employed to investigate asymptotical stabilization of a cascade connection by measuring only the storage function of the second switched system. Finally, as a special case of a cascade connection, the SIS technique is used to stabilize a passive switched system without damping injection. Under this circumstance, the controller is designed by sampling the integral of the passive output. The two-link robot manipulator is provided to illustrate the effectiveness of the SIS technique. KEYWORDS asymptotical stabilization, min-switching law, passivity-based control, sampled integral stabilization (SIS) technique, switched nonlinear systems

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“…In [15], a passivity‐based control scheme was designed for a certain class of non‐holonomic mechanical systems by passive configuration decomposition. In [16], a passivity‐based tracking controller was designed for robot manipulators with input torque constraints. In [17], a passivity‐based robust motion controller was designed for an underactuated prosthetic leg.…”

Section: Introductionmentioning

confidence: 99%

“…Passivity-based control was first introduced in [13], so that the closed-loop system becomes passive. Many control methods take advantage of this property in their control design [14][15][16][17]. In [14], the passivity-based properties were used to develop a new function approximation technique adaptive controller for the tracking performance of a robot manipulator.…”

Section: Introductionmentioning

confidence: 99%

Robust tracking control of a robot manipulator using a passivity‐based extended‐state observer approach

Ali

Alexander

2019

IET cyber-systems robotics

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Passivity-based tracking control of robot manipulators with torque constraints

Cited by 6 publications

References 8 publications

Robust Passivity-based Nonlinear Controller Design for Bilateral Teleoperation System under Variable Time Delay and Variable Load Disturbance

Robust Passivity-based Nonlinear Controller Design for Bilateral Teleoperation System under Variable Time Delay and Variable Load Disturbance

Passivity‐based asymptotic stabilization for switched nonlinear systems using the sampled integral stabilization technique

Robust tracking control of a robot manipulator using a passivity‐based extended‐state observer approach

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