Adaptive-backstepping force/motion control for mobile-manipulator robot based on fuzzy CMAC neural networks

Saad

Proceedings of the Institution of Mechanical Engineers, Part I:

et al. 2021

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

Section: Introductionmentioning

confidence: 99%

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

Saad

Proceedings of the Institution of Mechanical Engineers, Part I:

et al. 2021

“…If a leader is added, it means that the whole system will follow the trajectory of the leader. Obviously, the state of the follower cannot be limited by the initial state, which can not only increase the diversity of system motion forms, but also simplify the steps and procedures in the design of control strategy [8,27].The problem of coordinated tracking control based on directed communication topology is studied by using backstepping method [28,29]. For the nonlinear parameters, the method of parameter linearization is adopted.…”

Section: Introductionmentioning

confidence: 99%

Distributed Robust Tracking Control for Multiple Euler–lagrange Systems With Full-state Constraints and Input Saturation via Event-triggered Control

Liu

Tian

et al. 2021

Preprint

In this paper, the issue of distributed tracking control is studied for multiple Euler–Lagrange systems in presence of external disturbances and input saturation. Specifically, the full-state constraints, input saturation, communication delay, and unmeasured velocity are also considered simultaneously. Firstly, an adaptive distributed state observer is introduced to obtain the leader's time-varying position information, at the same time, a delay function is employed to compensate the communication delay. Moreover, the event-triggered control scheme is developed to reduce communication source and computation load, and the anti-saturation compensation algorithm is exploited to compensate for the influence of system saturation. Thirdly, an adaptive law is designed to offset external disturbances. What’s more, the high-gain observer is used to estimate the unmeasured velocities. Theorem analysis shows that the system errors can converge to zero. Finally, numerical simulations are present to verify the effectiveness of the proposed control strategy.

Lecture Notes in Computer Science

“…In recent years, various controllers have been proposed for UVMS control, including PID control [ 3 , 4 ], fuzzy control [ 5 , 6 ], adaptive control [ 7 , 8 ], robust control [ 9 , 10 ], sliding mode control [ 11 , 12 ] and neural network based control [ 13 ]. The response PID control system is slow, and the control precision is limited.…”

Section: Introductionmentioning

confidence: 99%

Research on Sliding Mode Control of Underwater Vehicle-Manipulator System Based on an Exponential Approach Law

Tang

Deng

et al. 2020

To improve the performance of underwater vehicle-manipulator system (UVMS), which is subject to system uncertainties and time-varying external disturbances in trajectory tracking control, a sliding mode controller is proposed in this paper. Firstly, in order to reduce a influence of system uncertainties and external disturbances, a sliding mode controller is designed based on an exponential approach law. Then the error asymptotic convergence of the trajectory tracking control is proven by the Lyapunov-like function. Finally, the effectiveness of the sliding mode controller is verified by rich simulation. Results show that the designed controller can not only realize the coordination control of UVMS accurately, but also can eliminate the chattering of control signal.