Robust Tracking Control of Robot Manipulators With Actuator Faults and Joint Velocity Measurement Uncertainty

Xiao, Bing; Cao, Lu; Xu, Shengyuan; Liu, Liang

doi:10.1109/tmech.2020.2975117

Cited by 108 publications

(48 citation statements)

References 44 publications

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“…Shen [25][26][27] designed state observer for satellite attitude control and his work mainly focused on the structure of state observer under information missing. Some work [28][29][30][31][32] focused on the issue that finite time control under model uncertainty and flexible deformations. Researchers proposed [33][34][35] some state observers to estimate the model uncertainty and disturbance torques for satellite attitude control.…”

Section: Introductionmentioning

confidence: 99%

Finite-Time Control Algorithm Based on Modal State Observer for Flexible Satellite Attitude Tracking

2020

IEEE Access

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An attitude controller with finite time convergence rate for satellite attitude tracking issue considering the flexible dynamic based on a finite time modal state observer is proposed in this paper. The deformation of flexible appendages is taken into consideration and a finite-time state observer with auxiliary state to offset the initial error is proposed to get the flexible vibration estimation. The modal state and its derivative could be estimated by a full dimensional feedback observer. A finite time sliding mode based on the fraction order feedback of MRP is constructed and the finite time controller is proposed. The modal estimation is implied in controller design hence the counteraction of flexible system could be offset. System global finite-time stability is proved by Lyapunov method and the superiority is demonstrated by simulation results.

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Section: Introductionmentioning

confidence: 99%

Finite-Time Control Algorithm Based on Modal State Observer for Flexible Satellite Attitude Tracking

2020

IEEE Access

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“…Some characteristic of this equation are as follows: According to [30], the dynamic leader's generalized coordinate based on our assumption, expressed as 0 q is generated as: The following assumption is given.…”

Section: Euler-lagrange Dynamicsmentioning

confidence: 99%

“…However, this algorithm does not consider the problem of system delay and saturation compensation, so it may not achieve the ideal position tracking effect in practical application. The system delay is considered in reference [15,30], and the delay function is introduced into the adaptive distributed observer to achieve the effect of delay compensation [31]. At the same time, the system instability caused by saturation is also considered.…”

Section: Introductionmentioning

confidence: 99%

Distributed Robust Tracking Control for Multiple Euler–lagrange Systems With Full-state Constraints and Input Saturation via Event-triggered Control

Liu

Tian

et al. 2021

Preprint

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In this paper, the issue of distributed tracking control is studied for multiple Euler–Lagrange systems in presence of external disturbances and input saturation. Specifically, the full-state constraints, input saturation, communication delay, and unmeasured velocity are also considered simultaneously. Firstly, an adaptive distributed state observer is introduced to obtain the leader's time-varying position information, at the same time, a delay function is employed to compensate the communication delay. Moreover, the event-triggered control scheme is developed to reduce communication source and computation load, and the anti-saturation compensation algorithm is exploited to compensate for the influence of system saturation. Thirdly, an adaptive law is designed to offset external disturbances. What’s more, the high-gain observer is used to estimate the unmeasured velocities. Theorem analysis shows that the system errors can converge to zero. Finally, numerical simulations are present to verify the effectiveness of the proposed control strategy.

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“…Meanwhile, the decoupler is desired to compensate the coupling torque caused by the frictional nonlinearity of the control system structure such that the available control torque of the azimuth control system can be extracted more timely [20,21]. In this way, the influence of coupling moment on angular momentum exchange system could be effectively suppressed to maintain the best operating point for the system [22,23].…”

Section: Introductionmentioning

confidence: 99%

An Integrated Decoupling Device for Azimuth Control of a Balloon-Borne Gondola

Wang

et al. 2020

Mathematical Problems in Engineering

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Controlling and maintaining the orientation of the balloon-borne gondola for high-altitude flight is a prerequisite for ensuring the pointing control of observation instruments. When the balloon-borne gondola is flying in the stratosphere of the atmosphere, the existing external interferences will be converted into the coupling moment to the azimuth control system. Meanwhile, those uncertain factors and the frictional nonlinearity of the control system will also cause a certain magnitude of coupling moment. The existence of such coupling moment largely impacts on the accuracy and stability of the orientation control for the angular momentum exchange devices of the balloon-borne gondola. To address such an issue, this paper proposes and implements a novel type of integrated decoupler device. With this decoupler adopted, the aziDmuth control system could sense the existence of coupling torque and azimuth fluctuations quickly and suppress the influences of external interference, uncertain factors, and system structure nonlinearity on the azimuth control effectively, thereby improving the control accuracy of the azimuth control system. Both simulations and experiments are conducted to verify the effectiveness of the proposed device. The results show that the integration of the decoupler and the controller of the azimuth control system provide the azimuth control of the balloon-borne gondola with high accuracy and stability. Such a decoupler device design has a broad potential and could not only be used for balloon-borne gondola control but also could be applied onto other control systems using angular momentum exchange devices as actuators.

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Robust Tracking Control of Robot Manipulators With Actuator Faults and Joint Velocity Measurement Uncertainty

Cited by 108 publications

References 44 publications

Finite-Time Control Algorithm Based on Modal State Observer for Flexible Satellite Attitude Tracking

Finite-Time Control Algorithm Based on Modal State Observer for Flexible Satellite Attitude Tracking

Distributed Robust Tracking Control for Multiple Euler–lagrange Systems With Full-state Constraints and Input Saturation via Event-triggered Control

An Integrated Decoupling Device for Azimuth Control of a Balloon-Borne Gondola

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