Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Yan, Ze; Lai, Xuzhi; Meng, Qingxin; Zhang, Pan

doi:10.1002/rnc.5335

Cited by 20 publications

(6 citation statements)

References 48 publications

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“…Through the Euler–Lagrange approach (Spong, 1987), the real dynamic model of the SFJM, considering the effects of external disturbances and un-modeled dynamics, can be constructed as (Chang and Yen, 2011; Yan et al, 2021; Zaare and Soltanpour, 2020)where qm and ql stand for the motor angle and link angle, respectively. g denotes the gravitational acceleration and Bm is the motor damping coefficient; dm and dl show un-modeled dynamics and external disturbances related to motor and link variables, respectively.…”

Section: Simulation Testsmentioning

confidence: 99%

“…Figure2represents a schematic of single-link flexiblejoint manipulator (SFJM) consisting a rigid link of length 2L, mass m, and inertia I, an actuator with inertia of J , and a flexible joint with stiffness K. The length, L stands for the distance between centroid of the flixible link and the joint.Through the Euler-Lagrange approach(Spong, 1987), the real dynamic model of the SFJM, considering the effects of external disturbances and un-modeled dynamics, can be constructed as(Chang and Yen, 2011;Yan et al, 2021;Zaare and Soltanpour, 2020) where q m and q l stand for the motor angle and link angle, respectively. g denotes the gravitational acceleration and B m…”

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confidence: 99%

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Passivity-based hierarchical sliding mode control/observer of underactuated mechanical systems

Moghanni-Bavil-Olyaei

Keighobadi

Gholami

et al. 2022

Journal of Vibration and Control

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This paper investigates a passivity-based hierarchical SM control (PBHSMC) approach to solve the trajectory tracking issue of a special class of UMSs using unmeasured states and in presence of both unmatched and matched perturbations. First, a passivity-based SM observer (PBSMO) is designed for quick estimation of states in the UMS. Then, we develop a nonlinear two-layer switching surface using feedback passivation. The passivation-based approach ensures global asymptotical convergence of tracking error on the switching surface with the discontinuous term. Moreover, we develop an SMC law that can satisfy reaching mode and sliding mode conditions. Finally, to illustrate the performance of theoretical results, the developed control scheme is assessed by numerical simulation of two case studies including flexible-joint manipulator (FJM) and underactuated surface vessel (USV) systems. The simulation results indicate the superiority of the PBSMO-based PBHSMC scheme over the conventional SMO-based HSMC in suppressing unwanted oscillations of link, low tracking error and overshoot, short settling time, smooth and small control efforts, and also more accurate estimation of state variables with less chattering.

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Section: Simulation Testsmentioning

confidence: 99%

mentioning

confidence: 99%

Passivity-based hierarchical sliding mode control/observer of underactuated mechanical systems

Moghanni-Bavil-Olyaei

Keighobadi

Gholami

et al. 2022

Journal of Vibration and Control

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“…Xue et al 19 studied the oscillator‐based robust control for a flexible hip exoskeleton for elderly and disabled people. Yan et al 20 proposed a tracking control method for a single link flexible joint manipulator with unmodeled dynamics. Hu et al 21 presented an assist‐as‐needed control scheme for an elbow exoskeleton driven by flexible actuators.…”

Section: Introductionmentioning

confidence: 99%

Neural learning impedance control of lower limb rehabilitation exoskeleton with flexible joints in the presence of input constraints

Yang

Huang

Jin

et al. 2022

Intl J Robust & Nonlinear

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This article presents neural learning based adaptive impedance control for a lower limb rehabilitation exoskeleton with flexible joints (LLREFJ). First, the full model consisting of both the rigid link and the flexible joint is obtained for the LLREFJ. Second, neural networks are used to compensate for the system uncertainties and external disturbance and an adaptive impedance controller is proposed by establishing an impedance error. In order to improve the control performance and enhance the system robustness, periodic dynamics is considered according to the repetitive motion of the rehabilitation process and handled by a repetitive learning algorithm. Then, the stability of the full system is proved rigorously by Lyapunov methods. Finally, comparative simulation reveals that the designed adaptive neural learning controller has improved the control performance.

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“…The generality of the reference signals determines the applicability of the tracking controllers. Note that the applicability of the controllers in existing literature is severely constrained since the reference signals must be high-order continuously differentiable (for example, twice in [5,8,[11][12][13][14]16,19] or more in [3,7,9,10,17,18,21,25]), and hence exclude a large class of ones without such sufficient smoothness. Once the reference signals are not sufficiently smooth, such as only first order continuous differentiable, the existing control methods will be inapplicable.…”

Section: Introductionmentioning

confidence: 99%

Practical tracking control under actuator saturation for a class of flexible-joint robotic manipulators driven by DC motors

Zhu

2022

Nonlinear Dyn

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This paper is devoted to the practical tracking control for a class of flexible-joint robotic manipulators driven by DC motors. Different from the related literature where control constraint is neglected and the disturbances are excluded or only exist in one subsystem, actuator saturation is considered in this paper while the disturbances are present in all the three subsystems. This leads to the incapability of the traditional schemes on this topic. For this, a novel control design scheme is proposed by skillfully incorporating adaptive dynamic compensation technique, constructive methods of command filters and an auxiliary system for the actuator saturation into the backstepping framework, and in turn to design a practical tracking controller which ensures that all the states of the resulting closed-loop system are bounded and the system output practically tracks the reference signal. It is worthwhile strengthening that a more wider class of reference signals can be tracked since they are only first order continuously differentiable but twice or more in the related literature. Finally, a numerical example is provided to validate the effectiveness of the proposed theoretical results.

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Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Cited by 20 publications

References 48 publications

Passivity-based hierarchical sliding mode control/observer of underactuated mechanical systems

Passivity-based hierarchical sliding mode control/observer of underactuated mechanical systems

Neural learning impedance control of lower limb rehabilitation exoskeleton with flexible joints in the presence of input constraints

Practical tracking control under actuator saturation for a class of flexible-joint robotic manipulators driven by DC motors

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