Continuous Friction Feedforward Sliding Mode Controller for a TriMule Hybrid Robot

Yang, Xu; Liu, Haitao; Xiao, Juliang; Zhu, Wu-Le; Liu, Qi; Gong, Gwo‐Ching; Huang, Tian

doi:10.1109/tmech.2018.2853764

Cited by 47 publications

(23 citation statements)

References 27 publications

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“…LSMC is written as 30,32,37 : where c and k are the design parameters. As proved in Yang et al., 30 the choice of k is sensitive since k>δ is the sufficient condition for the controller stability. Thus one must get the knowledge of or manually estimate the upper bound of system overall uncertainties δ with special care, which on the contrary, is not required in our proposed method.…”

Section: Numerical Simulationmentioning

confidence: 99%

Tribo-dynamic analysis and motion control of a rotating manipulator based on the load and temperature dependent friction model

Yan

Meng

2020

Proceedings of the Institution of Mechanical Engineers, Part J:

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Joint friction has a significant influence on the dynamics and motion control of manipulators. However, the friction effect is often omitted or simplified in previous studies. In this paper, we establish the dynamics model of a single joint in a rotating industrial manipulator taking detailed friction effects into consideration and propose a new control algorithm for the friction compensation purpose. Firstly, the manipulator dynamics modeling is carried out employing a recently-proposed extended static friction model, which depicts load and temperature influence on Coulomb, Stribeck and viscous terms. Moreover, based on the established dynamics model, the paper presents a new adaptive fast nonsingular terminal sliding mode (AFNTSM) controller. The proposed approach has the advantages of continuous control inputs, fast convergence rate, no singularity and great robustness against disturbances. Furthermore, its adaptive property does not require any prior knowledge of the upper bound of the uncertainties. Finally, the proposed controller is applied to the manipulator joint trajectory tracking problem with varying friction subject to load and temperature changes. The numerical simulation verifies the effectiveness of our proposed method and its advantages over other controllers.

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Section: Numerical Simulationmentioning

confidence: 99%

Tribo-dynamic analysis and motion control of a rotating manipulator based on the load and temperature dependent friction model

Yan

Meng

2020

Proceedings of the Institution of Mechanical Engineers, Part J:

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“…The spring steel material is used to construct the DA-FTS, and the dual-axial motions are captured by two capacitive sensors from MicroSense cooperation (probe 5503 and charge amplifier 5810). With the trajectory tracking, the integral-type sliding mode controller (I-SMC) featuring chatter free and zero steady state error is designed for the motion control along each direction [10]. The cross-axis coupling, system nonlinearities, and external forces are treated as lumped disturbances on the control system, which will be comprehensively compensated by the highly robust I-SMC.…”

Section: The Dual-axial Fast Tool Servomentioning

confidence: 99%

Tuned diamond turning of micro-structured surfaces on brittle materials for the improvement of machining efficiency

Zhu

Tong

et al. 2019

CIRP Annals

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Target at improving the machining efficiency for diamond turning of micro-structured surfaces on brittle materials, a general technique named tuned diamond turning is proposed through strictly matching the maximum depth-of-cut with the critical one during turning, and the corresponding toolpath planning algorithm is developed. Practically, a novel piezo-actuated dual-axial fast tool servo system is introduced to realize the tuning concept, and a typical micro-structured surface free from cracks is successfully generated on a single crystal silicon wafer. Compared with fast-/slow tool servo, the machining efficiency is improved by a factor of 16.35 %, demonstrating the effectiveness of the tuned diamond turning.

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“…To stabilize the air bearing stages, it is required to precisely fit the controller transfer function and necessary filters (or, for example, use a Kalman filter) and control it by using the sliding control mode (SCM). Therefore, it is required to estimate the damping which occurs because of Eddy Current (ECD) [7][8][9]. To add a Kalman filter or SMC to the control system, special system diagnostics must be undertaken, including frequency response function (FRF) identification, control loop shaping and its fitting to required conditions [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

“…Figure 7. Frequency response functions of controller PID3:L PID3 is the experimentally identified FRF and L PID3 is the FRF of the theoretical transfer function H PID3 given in Equation(9).…”

mentioning

confidence: 99%

Investigation of Position and Velocity Stability of the Nanometer Resolution Linear Motor Stage with Air Bearings by Shaping of Controller Transfer Function

et al. 2020

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Modern industrial enterprises require high accuracy and precision feedback systems to fulfil cutting edge requirements of technological processes. As demand for a highly accurate system grows, a thin gap between throughput and quality exists. The conjunction of ultrafast lasers and modern control strategies of mechatronic systems can be taken into account as an effective solution to reach both throughput and tolerances. In the present paper, the dynamic errors of the moving platform of the one degree of freedom stage, based on linear motor and air bearings, have been analyzed. A precision positioning system is investigated as a symmetric system which is based on symmetric linear motor. The goal of the present article is to investigate the controllers of the different architecture and to find the best controller that can ensure a stable and small dynamic error of the displacement of the stage platform at four different constant velocities of the moving platform. The relations between the controller order, velocity and the displacement dynamic error have been investigated. It is determined that higher-order controllers can reduce the dynamic error significantly at low velocities of the moving platforms: 1 and 5 mm/s. On the contrary, the low order controllers of 4th-degree polynomials of the transfer function can also provide small dynamic errors of the displacement of the platform.

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Continuous Friction Feedforward Sliding Mode Controller for a TriMule Hybrid Robot

Cited by 47 publications

References 27 publications

Tribo-dynamic analysis and motion control of a rotating manipulator based on the load and temperature dependent friction model

Tribo-dynamic analysis and motion control of a rotating manipulator based on the load and temperature dependent friction model

Tuned diamond turning of micro-structured surfaces on brittle materials for the improvement of machining efficiency

Investigation of Position and Velocity Stability of the Nanometer Resolution Linear Motor Stage with Air Bearings by Shaping of Controller Transfer Function

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