Trajectory tracking of constrained robotic systems via a hybrid control strategy

Sun, Weiwei; Wu, You; Wang, Liping

doi:10.1016/j.neucom.2018.11.008

Cited by 35 publications

(14 citation statements)

References 31 publications

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“…In order to avoid the instability of the system in the switching point neighborhood, a Gaussian function is introduced as a smooth switching factor. Compared with the problem that the switching point is difficult to be determined in previous studies [13,14,28], the rate of change of velocity can be used as the switching index to solve this problem. Then the smooth switching function…”

Section: Hybrid Control Strategymentioning

confidence: 99%

“…This paper presents a hybrid controller for PMSM-driven flexible-joint robots. In order to make the control system take into account both good dynamic and steady state performance, some researchers have begun to propose to combine two control strategies with different points through smooth switching, to achieve a hybrid control strategy based on time switching [13,14]. However, it is difficult to determine the switching time point, which is one of the disadvantages of such control strategies.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory Tracking of Flexible-Joint Robots Actuated by PMSM via a Novel Smooth Switching Control Strategy

Wang

et al. 2019

Applied Sciences

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This paper presents the trajectory tracking control of a flexible-joint manipulator driven by permanent magnet synchronous motor (PMSM). Combining the PMSM electrical equation and mechanical equation of robotic manipulators, a novel smooth switching control scheme is proposed. Firstly, the position loop controller of the system is designed, with an improved hierarchical sliding mode control (IHSMC) algorithm proposed to further the response speed of the system, additionally, a robust interconnection and damping assignment passivity-based controller (IDA-PBC) is designed to improve the steady state performance of the system. Then, the IDA-PBC control strategy is leveraged to design the current loop controller of the system, on which basis a hybrid controller with smooth switching is designed. Furthermore, Gaussian function is applied as the smooth switching function of the hybrid controller to promote the switching performance. As a result, the hybrid controller has both good dynamic and steady performance. The simulation results verify the effectiveness of the algorithms.

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Section: Hybrid Control Strategymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking of Flexible-Joint Robots Actuated by PMSM via a Novel Smooth Switching Control Strategy

Wang

et al. 2019

Applied Sciences

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“…Over the past decades, the development of controllers for robot manipulator has attracted considerable attention due to their complex nonlinear dynamics and wide applications in industrial systems. 1–4 Various control methods, including proportional-integral-derivative control, 5,6 backstepping method, 7,8 and sliding mode control, 9–11 have been applied to robot manipulators in past decades. In order to improve the tracking performance, various methods have been developed and applied to robotic systems to drive the tracking error to zero.…”

Section: Introductionmentioning

confidence: 99%

Robust tracking control of robot manipulators with friction and variable loads without velocity measurement: A switched control strategy

Noghreian

Koofigar

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article addresses the adaptive-based robust output feedback tracking control for robot manipulators with friction and alternating unknown loads. A switched nonlinear system is first established to model the friction and parameter variations, caused by the load change. Under arbitrary load changings, an adaptive [Formula: see text] tracking control strategy is proposed to ensure link position tracking, in the presence of uncertainties and external disturbances. Then, for bounded external disturbances, a novel robust adaptive output tracking control strategy is developed, which guarantees all the closed-loop signals are bounded and tracking error is driven to zero. Unlike some previous studies, the proposed algorithms do not require velocity measurements, and the unknown switched parameters and disturbances are neither required to be periodic nor to have known bounds. A simulation study is also given to demonstrate the analytically proved properties of the proposed schemes.

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“…The tracking control has become one of the most important schemes, and a lot of research achievements have been achieved in previous works. [10][11][12][13][14][15][16] Safa et al 10 present a position-tracking control strategy using output feedback and adaptive sliding-mode approach. Sun et al 11 propose a novel hybrid coordinated control method, in which backstepping scheme and Hamilton control were utilized to improve the performance of the asymptotic position tracking.…”

Section: Introductionmentioning

confidence: 99%

“…[10][11][12][13][14][15][16] Safa et al 10 present a position-tracking control strategy using output feedback and adaptive sliding-mode approach. Sun et al 11 propose a novel hybrid coordinated control method, in which backstepping scheme and Hamilton control were utilized to improve the performance of the asymptotic position tracking. Another important issue is the problem of stability of the systems.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy finite-time fault-tolerant funnel control of nonlinear systems with actuators failures

Chen

Wang

et al. 2019

Advances in Mechanical Engineering

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This article investigates adaptive fuzzy finite-time fault-tolerant funnel control of nonlinear systems with actuators failures, which contain outage, loss of effectiveness and stuck modes. The principal control objectives are ensure that the trajectory of the tracking error can be limited to the predefined area in finite time and whether the actuators are at faults or not. First, the original error equation is changed into a new one by introducing the revised funnel variable, which will be employed to design the controller later. Second, the required conditions for the existence of the adaptive fuzzy finite-time fault-tolerant controller are provided using backstepping technology, fuzzy logic system, and finite-time Lyapunov stability theory. Theoretical analysis verifies that all the signals of the closed-loop system are semi-globally practically finite-time stable. Finally, a numerical example illustrates that the proposed method can effectively improve the steady-state and transient-state performance of the system in finite time.

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Trajectory tracking of constrained robotic systems via a hybrid control strategy

Cited by 35 publications

References 31 publications

Trajectory Tracking of Flexible-Joint Robots Actuated by PMSM via a Novel Smooth Switching Control Strategy

Trajectory Tracking of Flexible-Joint Robots Actuated by PMSM via a Novel Smooth Switching Control Strategy

Robust tracking control of robot manipulators with friction and variable loads without velocity measurement: A switched control strategy

Adaptive fuzzy finite-time fault-tolerant funnel control of nonlinear systems with actuators failures

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