Screw Dynamic Modeling and Novel Composite Error-Based Second-order Sliding Mode Dynamic Control for a Bilaterally Symmetrical Hybrid Robot

This paper proposes a robust control approach to achieve high-precision trajectory tracking for permanent magnet linear motor (PMLM) system containing uncertainties by describing the dynamic model of PMLM based on the Udwadia-Kalaba equation combined with constraint-following method. First, the system of PMLM is described as a constraint-following system by adding the generalized constraint force to the unconstrained Udwadia-Kalaba equation of PMLM system. Second, the robust constraint-following controller is designed based on the proposed model after uncertainty analysis. Moreover, the proposed controller is verified to guarantee deterministic performance for uncertain systems: uniformly bounded and uniformly ultimately bounded. Third, the numerical simulation and experimental validation demonstrate the effectiveness of proposed controller. Finally, the design approach of constraint-following can be applied to other systems with uncertainties.

“…The zero-order constraint (3) controls the position q, the first-order constraint (6) controls the velocity q, and the second-order constraint (10) controls the acceleration q.…”

Section: Remark 2 Different Servo Constraint Forms Of Pmlm Can Be Set...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust control and experimental validation of trajectory tracking for permanent magnet linear motors based on constraint-following under uncertainty

Zhen,

Huang,

Liu

et al. 2024

“…Sliding mode control (SMC) [7][8][9][10][11][12][13][14][15][16][17][18], a robust control approach, is known to be effective in controlling manipulators. While possessing strong robustness against uncertainties and disturbances, SMC is, on the other hand, subject to some drawbacks, for instance, highly switching gains, long convergence time, and chattering in the response.…”

Section: Introductionmentioning

confidence: 99%

“…While SMC-based algorithms [7][8][9][10][11][12][13][14][15][16][17][18] can maintain well the tracking performance, they lack the ability to adjust control parameters in response to large system uncertainties. As a remedy, adaptive control approaches have been integrated into the SMC.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots

Tuan,

2024

Closed-loop kinematics of a dual-arm robot (DAR) often induces motion conflict. Control formulation is increasingly difficult in face of actuator failures. This article presents a new approach for fault-tolerant control of DARs based on advanced sliding mode control. A comprehensive fractional-order model is proposed taking nonlinear viscous and viscoelastic friction at the joints into account. Using integral fast terminal sliding mode control and fractional calculus, we develop two robust controllers for robots subject to motor faults, parametric uncertainties, and disturbances. Their merits rest with their strong robustness, speedy finite-time convergence, shortened reaching phase, and flexible selection of derivative orders. To avoid the need for full knowledge of faults, robot parameters, and disturbances, two versions of the proposed approach, namely adaptive integral fractional-order fast terminal sliding mode control, are developed. Here, an adaptation mechanism is equipped for estimating a common representative of individual uncertainties. Simulation and experiment are provided along with an extensive comparison with existing approaches. The results demonstrate the superiority of the proposed control technique. The robot performs well the tasks with better responses (e.g., with settling time reduced by at least 16%).

“…In ref. [9], the PMSM's performance of robust sensor-fault-tolerant control was studied by using two sliding mode observers for position and speed estimation. For high-precision speed control of PMSM, ref.…”

Section: Introductionmentioning

confidence: 99%

A Lyapunov-based robust control for permanent magnet synchronous motor in the modular joint of collaborative robot

Zhen

Liu

et al. 2023

In order to decrease the influence of system parameters and load on the dynamic performance of permanent magnet synchronous motor (PMSM) in cooperative robot joint modules, a practical model-based robust control method was proposed. It inherits the traditional proportional-integral-derivative (PID) control and robust control based on error and model-based control. We first set up the nominal controller using the dynamics model. In order to limit the influence of uncertainty on dynamic performance, a robust controller is established based on Lyapunov method. The control can be regarded as an improved PID control or a redesigned robust control. Compared with the traditional control method, it is simple to implement and has practical effects. It is proved by theoretical analysis that the controller can guarantee the uniform boundedness and uniform final boundedness of the system. In addition, the prototype of fast controller cSPACE is built on the experiment platform, which averts long-time programming and debugging. It offers immense convenience for practical operation. Finally, numerical simulation and real-time experiment results are presented. Based on cSPACE and a PMSM in the joint module of a practical cooperative robot, the availability of the control design and the achievable control performance are verified.