Robust Impedance Control of Uncertain Mobile Manipulators Using Time-Delay Compensation

Souzanchi-K, Mahdi; Arab, Aliasghar; Akbarzadeh-T, Mohammad-R.; Fateh, Mohammad Mehdi

doi:10.1109/tcst.2017.2739109

Cited by 46 publications

(30 citation statements)

References 23 publications

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“…By defining a two-dimensional output vector to decouple robot’s two control signals and using the backstepping methodology, Rudra et al (2016) proposed a dynamic controller for WMRs. In order to design a robust dynamic impedance controller, Souzanchi-K et al (2017) divided the WMR’s model into two parts, namely, a known nominal model and unknown dynamics. To compensate for unmodelled dynamics and modelling imperfection, the adaptive switching gain-based torque control (Roy et al, 2017) has been designed as a dynamic controller.…”

Section: Introductionmentioning

confidence: 99%

A state augmented adaptive backstepping control of wheeled mobile robots

Ahmadi

Taghadosi

2020

Transactions of the Institute of Measurement and Control

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The present paper aims to design an integrated kinematic/dynamic-based tracking controller for wheeled mobile robots (WMRs) considering motors’ dynamics. By defining a reference WMR, the role of kinematic controller is to not only minimize the posture error which indicates the difference between the reference and actual WMRs, but also to generate a desired path for the actual WMR. The kinematic tracking control problem of WMRs is so challenging if motors’ dynamics, parametric and nonparametric uncertainties and external disturbances are considered. Thus, proposing a dynamic control law alongside a kinematic control is unavoidable. In this study, we propose a new dynamic controller, namely, a state augmented adaptive backstepping such that the desired path is asymptotically tracked. Several numerical results accompanied by 3D simulations of trajectory tracking control of a WMR in ‘Simscape Multibody’ environment and comparisons with two well-designed controllers in the literature are reported to show the high performance of proposed control structure.

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Section: Introductionmentioning

confidence: 99%

A state augmented adaptive backstepping control of wheeled mobile robots

Ahmadi

Taghadosi

2020

Transactions of the Institute of Measurement and Control

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“…Time delay is common in real systems and often reduces the control system performance and even may lead to the loss of stability. Therefore, the study of robust control of uncertain time-delay systems has been addressed by several papers (Roy et al 2017;Wu 2017;Souzanchi-K et al 2017). However, a common technique for integer-order systems with delay, the so-called Lyapunov-Krasovskii functional method, cannot be extended easily to FO systems, and the control of FO delayed systems is still a challenging problem.…”

Section: Introductionmentioning

confidence: 99%

“…However, a common technique for integer-order systems with delay, the so-called Lyapunov-Krasovskii functional method, cannot be extended easily to FO systems, and the control of FO delayed systems is still a challenging problem. Within the scope of this problem several papers (Wei et al 2016(Wei et al , 2017Roy et al 2017;Wu 2017;Souzanchi-K et al 2017; considered only the design of the controller to ensure robust stability. In fact, when designing a controller, not only the stability of the system, but also its performance must be guaranteed (Yu and Chu 1999).…”

Section: Introductionmentioning

confidence: 99%

Output-feedback-guaranteed cost control of fractional-order uncertain linear delayed systems

Chen

et al. 2020

Comp. Appl. Math.

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The control of fractional-order (FO) delayed systems is important in real-world applications, but it is still a challenging task. This paper studies the output-feedback-guaranteed cost control of a class of FO uncertain linear systems with time delay. Norm-bounded and time-varying parameter uncertainties are considered. A new definition of guaranteed cost control of FO system is proposed. Additionally, static and dynamic output-feedback delay-independent guaranteed cost controllers are designed. Two numerical examples are presented showing the effectiveness of the proposed schemes. Keywords Fractional-order system • Guaranteed cost control • Output feedback • Time delay Mathematics Subject Classification 93Cxx • 34Hxx • 93Dxx B Liping Chen

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“…In particular, the application of sliding-mode and backstepping methods can be hindered by the need to transform previously the dynamic model of mobile manipulators into canonical or triangular state-space forms. One can also note results on robust and adaptive control schemes for mobile manipulators which aim at compensating for model uncertainty and disturbances in these robotic systems [Xu et al, 2009], [Souzanchi et al, 2017], [Wu et al, 2014], [Park et al, 2018], [Monzur and Kulawik, 2006]. There are also findings on global linearizationbased control schemes for mobile manipulators, as for instance in the case of flatness-based control [Tang et al, 2011], [Morales et al, 2014], [Lévine, 2011], [Fliess and Mounier, 1999], [Sira-Ramirez and Agrawal, 2004], [Villagra et al, 2007].…”

Section: Introductionmentioning

confidence: 99%

Differential flatness theory-based control and filtering for a mobile manipulator

Rigatos

2020

CAP

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The article proposes a differential flatness theory based control and filtering method for the model of a mobile manipulator. This is a difficult control and robotics problem due to the system’s strong nonlinearities and due to its underactuation. Using the Euler-Lagrange approach, the dynamic model of the mobile manipulator is obtained. This is proven to be a differentially flat one, thus confirming that it can be transformed into an input-output linearized form. Through a change of state and control inputs variables the dynamic model of the manipulator is finally written into the linear canonical (Brunovsky) form. For the latter representation of the system’s dynamics the solution of both the control and filtering problems becomes possible. The global asymptotic stability properties of the control loop are proven. Moreover, a differential flatness theory-based state estimator, under the name of Derivative-free nonlinear Kalman Filter, is developed. This comprises (i) the standard Kalman Filter recursion on the linearized equivalent model of the mobile manipulator and (ii) an inverse transformation, relying on the differential flatness properties of the system which allows for estimating the state variables of the initial nonlinear model. Finally, by redesigning the aforementioned Kalman Filter as a disturbance observer one can achieve estimation and compensation of the disturbance inputs that affect the model of the mobile manipulator.

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Robust Impedance Control of Uncertain Mobile Manipulators Using Time-Delay Compensation

Cited by 46 publications

References 23 publications

A state augmented adaptive backstepping control of wheeled mobile robots

A state augmented adaptive backstepping control of wheeled mobile robots

Output-feedback-guaranteed cost control of fractional-order uncertain linear delayed systems

Differential flatness theory-based control and filtering for a mobile manipulator

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