Backlash-Compensated Active Disturbance Rejection Control of Nonlinear Multi-Input Series Elastic Actuators

Adaptive sliding mode control for robotic manipulators with backlash

“…(2) The proposed control scheme ensures the motor reengage with the joint without collision after traverse the backlash gap. Unlike, 2,[12][13][14] in this paper, the speed of the motor and the joint are considered, the speed of the motor and the joint is almost same when they re-contact, so as to avoid the impact caused by the speed mismatch during re-engage. (3) Compared with Yang et al, 1,2 Xiang et al, 3 Ik Han and Lee, 12 DeBoon et al, 13 and Ahangarian Abhari et al, 14 the proposed control method has higher control accuracy.…”

“…Unlike, 2,[12][13][14] in this paper, the speed of the motor and the joint are considered, the speed of the motor and the joint is almost same when they re-contact, so as to avoid the impact caused by the speed mismatch during re-engage. (3) Compared with Yang et al, 1,2 Xiang et al, 3 Ik Han and Lee, 12 DeBoon et al, 13 and Ahangarian Abhari et al, 14 the proposed control method has higher control accuracy. After the manipulator is decoupled by inverse dynamics, the adaptive sliding mode controller ensures that the manipulator can track the desired trajectory in the contact phase, while in the backlash phase, the optimal controller enables the motor to quickly pass through the backlash and minimize the error caused by the backlash.…”

“…In Ik Han and Lee, 12 in the case of unknown dead zone and external disturbances, a finite time sliding mode control is designed for the nonlinear manipulator, which avoids the cumbersome parameter identification process and ensures the preset tracking performance. In DeBoon et al, 13 an active disturbance rejection controller with backlash compensation is proposed. Through the experiment on hybrid electric vehicle, the feasibility of the method is verified by comparison with PID and ADRC.…”