Trajectory tracking control of a pneumatically actuated 6-DOF Gough–Stewart parallel robot using Backstepping-Sliding Mode controller and geometry-based quasi forward kinematic method

Lafmejani, Amir Salimi; Masouleh, Mehdi Tale; Kalhor, Ahmad

doi:10.1016/j.rcim.2018.06.001

Cited by 59 publications

(23 citation statements)

References 26 publications

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“…In this section, an NDO-based adaptive backstepping SMC is developed for the HCM (7). e schematic diagram of the presented ABSMC + NDO scheme for the HCM is shown in Figure 2.…”

Section: Control Strategymentioning

confidence: 99%

“…Many control strategies have been proposed to reject disturbances for parallel and hybrid mechanism, such as proportional integral derivative (PID) control [3], computed torque control [4], fuzzy control [5], robust control [6], backstepping control [7], and sliding mode control (SMC) [8,9]. e abovementioned researches are mainly to deal with matched disturbances.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers

Wei

Gao

2020

Journal of Control Science and Engineering

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An adaptive backstepping sliding mode controller combined with a nonlinear disturbance observer is designed for trajectory tracking of the electrically driven hybrid conveying mechanism with mismatched disturbances. A nonlinear disturbance observer is constructed for estimation and compensation of the mismatched and matched disturbances. Then, a hybrid control scheme is designed by combining the adaptive backstepping sliding mode controller and the mentioned observer. The Lyapunov candidate functions are utilized to derive the control and adaptive law. According to the simulation and experimental results, superior tracking performance could be obtained through the presented control scheme compared with conventional backstepping sliding mode control. Meanwhile, the presented control scheme can effectively reduce the chattering problem and improve tracking precision.

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“…In this section, an NDO-based adaptive backstepping SMC is developed for the HCM (7). e schematic diagram of the presented ABSMC + NDO scheme for the HCM is shown in Figure 2.…”

Section: Control Strategymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers

Wei

Gao

2020

Journal of Control Science and Engineering

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“…Meanwhile, parallel robots are widely used in aviation, shipping, and entertainment facilities because of their high rigidity, large payload, and high flexibility. [11][12][13] A 6-DOF robotic crusher is developed by combining the crushing chamber of cone crusher with the intelligence of parallel robot. 14 Trajectory tracking control is a difficult issue for the 6-DOF robotic crusher due to its complex kinematic and dynamic modeling.…”

Section: Introductionmentioning

confidence: 99%

Robust trajectory tracking control of a 6-DOF robotic crusher based on dynamic compensation

Shi

Liu

et al. 2021

Advances in Mechanical Engineering

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A robust controller is developed for the trajectory tracking control of a 6-DOF robotic crusher in task space. Firstly, the dynamic model including the mantle assembly and actuators is derived by Lagrange method according to the virtual work principle. In order to simulate the crushing behavior of cone crusher in the crushing chamber, the trajectory model of the mantle assembly is achieved by ADAMS. Then, a robust controller which contains the dynamic compensation is designed, and the convergence stability of the 6-DOF robotic crusher is strictly proved based on Lyapunov stability theory. Finally, the co-simulation is used to verify that the proposed controller can solve the problem of model uncertainties and external disturbances well. Meanwhile, numerical simulation results of the 6-DOF robotic crusher illustrate the proposed controller is able to effectively reduce the trajectory tracking errors compared with the computed torque controller.

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“…Sliding mode control (SMC) is another robust control method, which produces a switching control law (equivalent control law) to force the system to converge to the sliding surface within a boundary layer near the sliding surface under the convergence of the Lyapunov stability theory [24,25]. Trajectory tracking control of a 6-DOF pneumatically actuated Gough-Stewart parallel robot was investigated by Lafmejani [26], and position control of the pneumatic actuator was performed based on backstepping sliding mode controller according to the dynamic model of system. A methodology of dynamic analysis and control for a hybrid humanoid robot arm was presented in [27], and an adaptive backstepping sliding mode controller was developed for the parameters uncertainties and disturbances of the hybrid humanoid robot arm.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators

Zhu

Puchen

et al. 2020

Complexity

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To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were proposed for robotic control in many literature studies, the essential factors, such as coupling and friction, are rarely mentioned as it is difficult to build the precise dynamic model of the robotic manipulator. An adaptive backstepping sliding mode control is proposed to solve the precise trajectory tracking under external disturbances with complex environment, and the dynamic response characteristics of a two-link robotic manipulator are described in this paper. First, the Lagrange kinetic method is used to derive the precise dynamic model which includes the nonlinear factor with friction and coupling. Moreover, the dynamic model of two-link robotic manipulator is built. Second, the estimate function for the nonlinear part is selected, and backstepping algorithm is used for analyzing the stabilities of the sliding mode controller by using Lyapunov theory. Furthermore, the convergence of the proposed controller is verified subject to the external disturbance. At last, numerical simulation results are reported to demonstrate the effectiveness of the proposed method.

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Trajectory tracking control of a pneumatically actuated 6-DOF Gough–Stewart parallel robot using Backstepping-Sliding Mode controller and geometry-based quasi forward kinematic method

Cited by 59 publications

References 26 publications

Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers

Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers

Robust trajectory tracking control of a 6-DOF robotic crusher based on dynamic compensation

Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators

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