Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification

Izadbakhsh, Alireza

doi:10.1007/s11071-016-2720-6

Cited by 63 publications

(48 citation statements)

References 22 publications

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“…The main difficulties are joint flexibility, low stiffness, and complex system dynamics. To conquer these obstacles and ensure high control performance, many efforts have been made and several robust control schemes have been presented for the system with flexibility, such as sliding mode (SM) control, adaptive control, singular perturbation methods, robust PID control, and fuzzy logic control . Thanks to its strong robustness and easiness to use, the SM control and its variants have been widely used to handle abovementioned difficulties.…”

Section: Introductionmentioning

confidence: 99%

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Wang

Yan

Zhu

et al. 2019

Intl J Robust & Nonlinear

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In this paper, a new practical robust control scheme is proposed and investigated for the cable-driven manipulators under lumped uncertainties. There are three parts in the proposed method, ie, a time-delay estimation (TDE) part, a modified super-twisting algorithm (STA) part, and a fractional-order nonsingular terminal sliding mode (FONTSM) error dynamics part. The TDE uses intentionally time-delayed system signals to estimate the lumped dynamics of the system and ensures an attractive model-free control structure. The STA is applied to guarantee high performance and chattering suppression simultaneously in the reaching phase. The FONTSM error dynamics is utilized to obtain fast convergence and strong robustness in the sliding mode phase. Thanks to the above three parts, the proposed control scheme is model free and can ensure high control performance under lumped uncertainties. The stability considering the FONTSM error dynamics and modified STA scheme is analyzed. Comparative simulation and experiments were conducted to demonstrate the effectiveness and superiorities of the newly proposed control scheme. Corresponding experimental results show that our newly proposed control scheme can provide more than 20% improvement of the steady control accuracy under three different reference trajectories. KEYWORDS cable-driven manipulators, fractional order, model free, nonsingular terminal sliding mode, super-twisting algorithm (STA), time-delay estimation (TDE) INTRODUCTIONRobot manipulators have been widely utilized in many practical fields benefitting from their excellent capability to execute automatic tasks. 1-4 Usually, the drive motors are directly installed in the joints to simplify the system structure and obtain good control accuracy, which in turn will bring in high stiffness and big moving inertia. This design performs well for the industrial applications, but it will not be safe for the physical interactions with human due to the high stiffness and large moving mass. Therefore, the cable-driven manipulators were proposed and utilized to efficiently settle the above issue. 5 Compared with the widely used classical robot manipulators, the cable-driven ones have much lower stiffness and smaller moving mass, which can effectively guarantee the safety for physical interactions with human. Due to above obvious advantages, cable-driven manipulators have been widely used in medical care, flexible manufacturing, and academic studies. [6][7][8][9][10][11][12] Int J Robust Nonlinear Control. 2019;29:3405-3425.wileyonlinelibrary.com/journal/rnc

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Section: Introductionmentioning

confidence: 99%

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Wang

Yan

Zhu

et al. 2019

Intl J Robust & Nonlinear

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“…For practical situations, the actuator input voltages are subjected to some constraints, called motor saturation limits. This occurs usually between output of the controller and the PWM module . Following the same notation as in Reference , for the development of the controller in this article, we assume that the relation between the actual actuator's input ( v ( t ) ∈ ℜ n ) and the control signal produced by the controller ( u ( t ) ∈ ℜ n ) is given by

v (t) = h (u (t))

where h ( u ( t )) ∈ ℜ n is a continuous nonlinear function representing the saturation nonlinearity or its approximation.…”

Section: Dynamic Modelingmentioning

confidence: 99%

Robust adaptive control of robot manipulators using Bernstein polynomials as universal approximator

Izadbakhsh

Khorashadizadeh

2020

Intl J Robust & Nonlinear

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This article presents a robust adaptive controller for electrically driven robots using Bernstein polynomials as universal approximator. The lumped uncertainties including unmodeled dynamics, external disturbances, and nonimplemented control signals (they assumed as a function of time, instead a function of several variables) are represented with this powerful mathematical tool. The polynomial coefficients are then tuned based on the adaptation law obtained in the stability analysis. A comprehensive approach is adopted to include the saturated and unsaturated areas and also the transition between these areas in the stability analysis. As a result, the stability and the performance of the proposed controller have been improved considerably in dealing with actuator saturation. Also, in comparison with a recent paper based on uncertainty estimation using Taylor series, the proposed controller is less computational due to reducing the size of the matrix of convergence rate. A performance evaluation has been carried out to verify satisfactory performance of transient response of the controller.Simulation results on a Puma560 manipulator actuated by geared permanent magnet dc motors have been presented to guarantee its satisfactory performance. K E Y W O R D Sactuator saturation, adaptive uncertainty estimation, Bernstein polynomials, electrically driven robots, stability analysis 1 Int J Robust Nonlinear Control. 2020;30:2719-2735.wileyonlinelibrary.com/journal/rnc

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“…Where the mechanical system interpreted by equations (4) -(7), while the electrical system interpreted by the equation (8). Table (1) shows DC motor parameters.…”

Section: Mathematical Modelmentioning

confidence: 99%

“…Therefore, it is considered as a problem [7]. Some approaches of control demand numerous feedbacks or even a precise system model [8]. The vast majority of the familiar schemes about robot manipulators control strategies are depended on one/both of these simplified assumptions: Firstly, assumption is neglecting dynamics of motor.…”

Section: Introductionmentioning

confidence: 99%

“…Chang and Yen [17] addressed the motion tracking control for a category of flexiblejoint robotic. Izadbakhsh [8] addressed Lyapunov design for flexible joint robots controller based electrically driven as control -input to voltage. Furthermore, because of uncertainty and existence of the nonlinear components in its dynamical model, SMC theory was used by many authors as for the throttle valve angle control system, by AL-Samarraie [18].…”

Section: Introductionmentioning

confidence: 99%

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Sliding Mode Controller Design for Flexible Joint Robot

Gorial¹

2018

ETJ

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This paper suggests a flexible joint robot operated by brushed Direct Current (DC) motor model. Due to complex high-order, nonlinear dynamical system which operating under parameter's uncertainty, sliding mode control (SMC) used to solve this problem of control the flexible joint robot. The SMC method is identified as one of the effective method to design robust control for the flexible joint robot, which based on t using a Low Pass Filter (LPF) with suitable time constant. The mathematical model is presented clearly and the simulations together with their analysis are done using MATLAB software. Simulation results display the efficacy of the designed robust control in stabilizing the system states and forcing the link side angle to converge to the desired value with appropriate control effort.

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Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification

Cited by 63 publications

References 22 publications

A new practical robust control of cable‐driven manipulators using time‐delay estimation

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Robust adaptive control of robot manipulators using Bernstein polynomials as universal approximator

Sliding Mode Controller Design for Flexible Joint Robot

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