Comments on "Robust tracking control for rigid robotic manipulators"

Zhu, Wen-Hong

doi:10.1109/9.871778

Cited by 32 publications

(46 citation statements)

References 3 publications

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“…1. For the uncertainties in (3), two different assumptions were made in [16] and in [17,26,27] respectively as follows:…”

Section: Remarkmentioning

confidence: 99%

“…It is very difficult to determine the parameters b 0 , b 1 , b 2 , and α, in equations (26) or (27). There were no systematic methods presented in [16,17,26,27]. While all parameters in equations (5) and (14) can be derived utilizing the basic assumption (2).…”

Section: Remarkmentioning

confidence: 99%

“…To have a reasonable comparison with the existing methods, all model parameters, initial conditions, and simulation configuration parameters in the paper are exactly the same as that in [16,27]. The model of the robotic manipulator in Fig.…”

Section: Simulationmentioning

confidence: 99%

“…The initial conditions of the position and velocity of the two joints are assumed to be: q 1 (0) = À 0.22, q 2 (0) = 1.98, _ q 1 0 ð Þ ¼ 0:0, _ q 2 0 ð Þ ¼ 0:0. To test the robustness of the system, the external disturbance d(t) is added to the system at the time t=4 sec., which increase the complexity of the control system compared to the control system without external disturbance in [16,27].…”

Section: Simulationmentioning

confidence: 99%

“…Many tracking control methods have been proposed, such as PID control [1], computed-torque control [2], decentralized control [3], feedback linearization (otherwise known as inverse dynamics control) [4], adaptive control [5], intelligent control (fuzzy control [6], neural-network control [7]), optimal control [8], H ∞ control, [9] iterative learning control [10], model predictive control [11], passive-based control [12], adaptive neural network control [13,14], robust control [15], and sliding-mode control (SMC) [16][17][18][19][20][21][22][23][24][25][26][27]. Among the methods, SMC has attracted significant interest due to its computational simplicity for implementation, high robustness to external disturbances, low sensitivity to parameter variations, and fast dynamic response.…”

Section: Introductionmentioning

confidence: 99%

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Full‐Order Sliding‐Mode Control of Rigid Robotic Manipulators

Feng

Zhou

et al. 2018

Asian Journal of Control

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This paper proposes a full-order sliding-mode control for rigid robotic manipulators. The output signals of the proposed controller are continuous. Therefore, the controller can be directly applied in practice. A time-varying gain is constructed to regulate the gain of the signum function in the sliding-mode control so as to avoid the overestimation of the upper-bounds of the uncertainties in the systems and reduce the waste of the control power. The chattering is attenuated by using a novel full-order sliding manifold and establishing a novel ideal sliding motion. The proposed method is robust to the load disturbance and unmodeled parameters, especially to the unknown portion in the control matrix. Simulation results validate the proposed methods.

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“…1. For the uncertainties in (3), two different assumptions were made in [16] and in [17,26,27] respectively as follows:…”

Section: Remarkmentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

Section: Simulationmentioning

confidence: 99%

Section: Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Full‐Order Sliding‐Mode Control of Rigid Robotic Manipulators

Feng

Zhou

et al. 2018

Asian Journal of Control

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Adaptive finite‐time super‐twisting sliding mode control for robotic manipulators with control backlash

Zhai

Karimi

2021

Intl J Robust & Nonlinear

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This article aims at the problem of trajectory tracking for industrial robotic manipulators with control backlash. An arctangent terminal sliding mode surface is developed to deal with the lumped disturbance and enhance the robustness of the system. A novel adaptive super-twisting sliding mode control method is developed to achieve fast convergence and continuous control. The chattering in control law is surmounted by using super-twisting method. The lumped disturbance with unknown upper bound is compensated with the help of the adaptive technique. Based on the Lyapunov stability theory, the sliding mode surface will be arrived in a finite time and the trajectory tracking error will converge to zero in a finite time. The feasibility of the proposed control scheme is validated through an example of a two-link robotic manipulator.

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Implementation of adaptive fault‐tolerant tracking control for robot manipulators with integral sliding mode

Liu

Zhang

Hou

et al. 2023

Intl J Robust & Nonlinear

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This paper addresses an adaptive fault-tolerant tracking control for robot manipulators. By fully considering the effects of uncertainties and actuator effectiveness faults (UAEFs), a robust fault-tolerant tracking control combining with an auxiliary function and an integral sliding manifold is first developed for uncertain robot manipulators. Then, an adaptive law for unknown parameters of the upper bounded uncertainties is constructed to obtain a robust fault-tolerant approach with the elimination of the reaching phase of sliding mode control (SMC). The stability of the proposed approaches is accomplished by Lyapunov stable theory. The key contributions of the proposed approach are as follows: i) the reaching phase of SMC is removed in the control design and then the sliding mode starts at very beginning; (ii) the nominal control term is eliminated in the design of integral sliding surface and then the algebraic loop problem is also avoided in the proposed approach for robot manipulators; (iii) the simple control structure with an adaptive law is obtained for improving chattering-restraining ability of the proposed approach and then the effects of time delay and computational burden are also restrained from the proposed approach. Simulation and experimental comparisons have been accomplished for verifying the effectiveness of the proposed approach.

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Comments on "Robust tracking control for rigid robotic manipulators"

Cited by 32 publications

References 3 publications

Full‐Order Sliding‐Mode Control of Rigid Robotic Manipulators

Full‐Order Sliding‐Mode Control of Rigid Robotic Manipulators

Adaptive finite‐time super‐twisting sliding mode control for robotic manipulators with control backlash

Implementation of adaptive fault‐tolerant tracking control for robot manipulators with integral sliding mode

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