A New Recursive Composite Adaptive Controller for Robot Manipulators

Li, Jianfei; Wang, Yaobing; Xin, Jing; Hu, Chengwei

doi:10.34133/2021/9801421

Cited by 17 publications

(13 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The partial items in (*9) ; (*15) are firstly proposed in the EJNEA 5 and (*1) ; (*2) and (*5) have been mentioned in the book of Zhu 16 and our previous work. 34 Although there are some similarities between the EJNEA and Sub-EJNEA, however, the main differences are reflected in (*1) ; (*7). an obvious feature of the Sub-EJNEA is that the inertia matrix i M i , and the Coriolis and centrifugal matrix i C i are separated with the high-order generalized variables in the subsystem dynamics, which may be useful in the design of more control schemes.…”

Section: Inverse Recursionmentioning

confidence: 99%

A recursive inverse dynamics algorithm for robotic manipulators with elastic joints and its application to control

Xin

Chen

Gao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

High-order inverse dynamics is important for the trajectory tracking control of the elastic-joint manipulators. Usually it is undesirable to establish third-order or fourth-order inverse dynamics through the symbolic Lagrangian method, because of its complicated customization and higher computational complexity, which is not suitable for real-time control for multi-joint [Formula: see text] manipulators. Based on the Subsystem of Newton-Euler formulation and the recently proposed elastic joint Newton-Euler algorithm (EJNEA), a novel recursive algorithm (Sub-EJNEA) is proposed in this paper. The Sub-EJNEA obtains a linear complexity [Formula: see text], and has a more compact form and clear physical meaning. Based on the Sub-EJNEA, a recursive control method is proposed, which can be seen as an enhancement of the feedback linearization (FL-E) control method. When facing with friction and external disturbances, a combined controller FL-E-RISE is proposed. Finally, to verify the correctness of the recursive algorithm and the effectiveness of the proposed control schemes, simulation results with the Baxter manipulator are presented.

show abstract

Section: Inverse Recursionmentioning

confidence: 99%

A recursive inverse dynamics algorithm for robotic manipulators with elastic joints and its application to control

Xin

Chen

Gao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…The first approach focuses on achieving robust stability for mismatched uncertain systems with uncertainties by employing classical control techniques, such as Riccati approach, 33 LMI-based approach 34 and adaptive approach. 35 The other method is ISMC. By designing the switching gain to force the system states to reach the sliding surface, the integral action will make the states converge to the equilibrium even facing the mismatched uncertainties.…”

Section: Introductionmentioning

confidence: 99%

“…To deal with the mismatched terms, numerous SMC‐based methods have been proposed, which can be divided into two categories. The first approach focuses on achieving robust stability for mismatched uncertain systems with uncertainties by employing classical control techniques, such as Riccati approach, 33 LMI‐based approach 34 and adaptive approach 35 . The other method is ISMC.…”

Section: Introductionmentioning

confidence: 99%

Distributed prescribed‐time leader‐following formation control for second‐order multi‐agent systems with mismatched disturbances

Gong

Xiao

et al. 2023

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

This article investigates the distributed prescribed-time formation control problem for the second-order multi-agent systems (MASs) subject to matched and mismatched disturbances in time-varying formation case. As a stepping stone, novel distributed estimators are first proposed to accurately estimate the position and velocity information of the leader within prescribed time. Subsequently, the nominal control protocol is presented for the MAS in the absence of the disturbances to deal with the time-varying formation control problem, and the prescribed-time stability of the system is guaranteed. For system subject to matched and mismatched disturbances, the observer-based integral sliding mode formation control protocol is then presented such that the desired trajectories can be tracked and the desired patterns can be achieved within the prescribed settling time. By adopting the sinusoidal function to the control scheme, the singularity-like problem is solved if there exist measurement errors in the agents. Finally, a numerical simulation example utilizing unmanned aerial vehicles modeled by Simscape and Solidworks is presented to show the efficiency of the proposed scheme.

show abstract

“…In recent times, a great development was observed in the types of controllers, especially those that are based on adaptation techniques and deal with nonlinear systems. Non-linear systems with disturbances and parameter uncertainties are controlled by using the developed controllers such as multiple models adaptive, intelligent adaptive models, and composite adaptive techniques [14,15]. In 2016, multiple model adaptive PID controllers were proposed for four operating mode conditions.…”

Section: Introductionmentioning

confidence: 99%

A Robust Controller Design for Simple Robotic Human Arm

Aboud¹,

Aljobouri²,

Al-Amir³

2022

IJEEI

View full text Add to dashboard Cite

Nowadays, the manipulator of two degrees of freedom (2DOF) has many applications. One is a human arm that may be utilized in robotic rehabilitation. The 2DOF controlled robot manipulator usually acts like human arms. This paper aims to design a robust, stable controller for the upper limb robotic model. A sliding mode control (SMC) approach is proposed to realize stability, tracing accuracy, and robustness for 2DOF robotic manipulator. Based on the general manipulator equation of motion, two SMCs are designed. The first is designed according to the input-output stability constraints. The second is designed according to the adaptive law. Not only the trajectory tracking is guaranteed but also stability is ensured. The stability of the controllers is examined based on Lyapunov stability criteria. The controllers and the robotic arm are formulated analytically. The MATLAB platform is adopted to examine and validate the proposed controller's performance. The addition of adaptation law in the SMC scheme improves the results for the two designed controllers and shows remarkable trajectory tracking and system stability as well. The improvement rate shows an enhancement of 40.5% and 36.7% for manipulator joints 1 and 2, respectively.

show abstract

A New Recursive Composite Adaptive Controller for Robot Manipulators

Cited by 17 publications

References 17 publications

A recursive inverse dynamics algorithm for robotic manipulators with elastic joints and its application to control

A recursive inverse dynamics algorithm for robotic manipulators with elastic joints and its application to control

Distributed prescribed‐time leader‐following formation control for second‐order multi‐agent systems with mismatched disturbances

A Robust Controller Design for Simple Robotic Human Arm

Contact Info

Product

Resources

About