Global Fuzzy Sliding Mode Control for Multi-joint Robot Manipulators Based on Backstepping

Shao, Keyong; Ma, Qianhui

doi:10.1007/978-3-642-54924-3_93

Cited by 7 publications

(5 citation statements)

References 4 publications

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“…In order to show the derivation process more clearly, we have selected the DOF of the robot systems is two in this paper [34]. Robot systems with other DOF can be expanded using the similar method.…”

Section: The Sampled-data Model Of the Robot Systems With Frohmentioning

confidence: 99%

Stabilization of a Class of Robot Systems in Fractional-Order Hold Case via Sampling Zero Dynamic Stable Approach

Liang

Yang

et al. 2019

IEEE Access

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Robots play a significant-and growing-role in many practical fields, for example, the corresponding application in industrial and medicine field. More importantly, for the control of a robot system, a good control performance is natural and necessary requirements. And since the control of system is usually realized by a digital computer, sampling is an inevitable process in actual engineering. However, it is a well known truth that unstable zero dynamics can greatly limit the control performance of the system. This paper investigates the stabilization of a class of robot system based on the corresponding sampled-data model, which generated from the discretization with fractional-order hold (FROH). Further, the sampled-data model of the two degree of freedom (DOF) robot system is obtained and the expression and stable conditions of sampling zero dynamics are also obtained. What is more, the control strategy of the corresponding robot system is acquired using the sampling zero dynamic stable approach. Finally, numerical example is provide to illustrate the effectiveness of the proposed approach in this paper. INDEX TERMS Fractional-order hold, robot system, sampled-data model, stabilization, zero dynamic.

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Section: The Sampled-data Model Of the Robot Systems With Frohmentioning

confidence: 99%

Stabilization of a Class of Robot Systems in Fractional-Order Hold Case via Sampling Zero Dynamic Stable Approach

Liang

Yang

et al. 2019

IEEE Access

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“…The basic idea of backstepping design method is to decompose the complex nonlinear system into subsystems with lower orders, and then design Lyapunov function and intermediate virtual control for each subsystem [ 47 ]. Based on Equation (4), the controlled object model can be defined as

where

is the actual trajectory.…”

Section: Control Strategymentioning

confidence: 99%

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Zhu

Zuo

et al. 2017

Sensors

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A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles’ good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM’s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

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“…In [24], a GSMC method is offered for the missile actuator servo-system with high uncertainties where using a new optimal integral switching function based on the linear quadratic regulator (LQR) concept, the initial states of the controlled system are set on the sliding curve, and the optimal switching motion is satisfied. In [25], a backsteppingbased global fuzzy SMC method for tracking controller design of multi-joint robotic manipulators is presented which is focused on the chattering phenomenon of SMC. In [26], a GSMC based on the disturbance observer and LQR is proposed for the tracking control of motor servo-systems which their performance is assailable to the parameter variations and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Stability analysis and controller design for the performance improvement of disturbed nonlinear systems using adaptive global sliding mode control approach

Mobayen

Băleanu

2015

Nonlinear Dyn

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This paper addresses a novel adaptive global nonlinear sliding surface for a class of disturbed nonlinear dynamical systems. A nonlinear gain function is used in the sliding surface to change the damping ratio and improve the transient performance of the controlled system. Initially, to get a quick response, a low value of damping ratio is obtained using a constant gain matrix. As the response of the system approaches to the origin, the damping ratio of the controlled system is improved and the overshoot and settling time of the closed-loop system are reduced. A novel control law without chattering is designed to satisfy the elimination of the reaching phase and achieve the presence of the sliding around the surface right from the beginning. Moreover, the adaptive tuning control law eliminates the necessity of the knowledge about the bounds of the external disturbances. Illustrative simulations on Genesio chaotic system with different values of the initial conditions and external disturbances are presented to show the robustness and success of the suggested design.

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Global Fuzzy Sliding Mode Control for Multi-joint Robot Manipulators Based on Backstepping

Cited by 7 publications

References 4 publications

Stabilization of a Class of Robot Systems in Fractional-Order Hold Case via Sampling Zero Dynamic Stable Approach

Stabilization of a Class of Robot Systems in Fractional-Order Hold Case via Sampling Zero Dynamic Stable Approach

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Stability analysis and controller design for the performance improvement of disturbed nonlinear systems using adaptive global sliding mode control approach

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