A Stability Analysis for the Acceleration-Based Robust Position Control of Robot Manipulators via Disturbance Observer

Sarıyıldız, Emre; Sekiguchi, Hiroyuki; Nozaki, Tsutomu; Uğurlu, Barkan; Ohnishi, Kouhei

doi:10.1109/tmech.2018.2854844

Cited by 61 publications

(25 citation statements)

References 27 publications

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“…Remark 2: The considered system (1) is a more generalised model developed from the practical motion control systems. It is worth pointing out here that the practical motion systems from a simple one-or two-order system [17] to a complicated robot system [30][31][32] can be all regarded as one single system (1) or several cascaded systems generated by (1). Hence, the design of the MPC method for system (1) to achieve high-performance tracking is fundamental and significant for motion control systems.…”

Section: Resultsmentioning

confidence: 99%

Non‐linear‐disturbance‐observer‐enhanced MPC for motion control systems with multiple disturbances

Yan

Yang

Sun

et al. 2020

IET Control Theory & Applications

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Section: Resultsmentioning

confidence: 99%

Non‐linear‐disturbance‐observer‐enhanced MPC for motion control systems with multiple disturbances

Yan

Yang

Sun

et al. 2020

IET Control Theory & Applications

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“…It would also be worthwhile to develop a dual-Youla uncertainty characterization for the robust manipulator control with a disturbance observer-based inner loop compensation. 40 Another important research direction is to include the analysis of flexible robots 62…”

Section: Resultsmentioning

confidence: 99%

Parameterizing robust manipulator controllers under approximate inverse dynamics: A double‐Youla approach

Friedrich

Buss

2019

Intl J Robust & Nonlinear

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We consider the goal of ensuring robust stability when a given manipulator feedback control law is modified online, for example, to safely improve the performance by a learning module. To this end, the factorization approach is applied to both the plant and controller models to characterize robustly stabilizing controllers for rigid-body manipulators under approximate inverse dynamics control. Outer-loop controllers to stabilize the nonlinear uncertain loop that results from approximate inverse dynamics are often derived by lumping uncertainty in a single term and subsequent analysis of the error system. Here, by contrast, the well-known norm bounds of these uncertain dynamics are first recast into a generalized plant configuration that preserves the characteristic uncertainty structure. Then, the overall loop uncertainty is expressed with respect to the nominal outer-loop feedback controller by means of an uncertain dual-Youla operator. Therefore, using the dual-Youla parameterization, we provide a novel way to rigorously quantify permissible perturbations of robot manipulator feedforward/feedback controllers. The method proposed in this paper does not constitute another robust control law for rigid-body manipulators, but rather a characterization of a set of robustly stabilizing controllers. The resulting double-Youla parameterization for the control of robot manipulators is amenable to numerous advanced design methods. The result is thoroughly discussed by a planar elbow manipulator and exemplified with a six-degree-of-freedom robot scenario with varying payload. KEYWORDS approximate inverse dynamics, dual-Youla parameterization, robust robot manipulator control, robust/adaptive control, uncertainty quantification INTRODUCTIONOperating conditions of robot manipulators change over time, impairing the control performance, for example, by wear, varying load, etc. To adapt the controller to such situations, a variety of data-driven methods have been proposed in the literature, including adaptive and learning control. [1][2][3][4] In practice, however, very simple feedback controllers and model-based architectures are prevalent.This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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“…The performance of disturbance suppression can be improved by simply increasing the bandwidth of Dob. 27,29 The transient response of the SEA's link suffered from vibration as the resonance modes of the compliant actuator were neglected in the sliding mode controller synthesis. 7 The vibration of the SEA's link can be suppressed by either using a continuous trajectory as shown in Fig.…”

Section: Methodsmentioning

confidence: 99%

A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators

Sarıyıldız¹,

Mutlu²,

Huang³

2019

Robotica

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SummaryThis paper deals with the robust force and position control problems of series elastic actuators (SEAs). It is shown that an SEA’s force control problem can be described by a second-order dynamic model which suffers from only matched disturbances. However, the position control dynamics of an SEA is of fourth order and includes matched and mismatched disturbances. In other words, an SEA’s position control is more complicated than its force control, particularly when disturbances are considered. A novel robust motion controller is proposed for SEAs by using disturbance observer (DOb) and sliding mode control. When the proposed robust motion controller is implemented, an SEA can precisely track desired trajectories and safely contact with an unknown and dynamic environment. The proposed motion controller does not require precise dynamic models of environments and SEAs. Therefore, it can be applied to many different advanced robotic systems such as compliant humanoids, industrial robots and exoskeletons. The validity of the proposed motion controller is experimentally verified.

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A Stability Analysis for the Acceleration-Based Robust Position Control of Robot Manipulators via Disturbance Observer

Cited by 61 publications

References 27 publications

Non‐linear‐disturbance‐observer‐enhanced MPC for motion control systems with multiple disturbances

Non‐linear‐disturbance‐observer‐enhanced MPC for motion control systems with multiple disturbances

Parameterizing robust manipulator controllers under approximate inverse dynamics: A double‐Youla approach

A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators

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