Inverse dynamics and robust sliding mode control of a planar parallel (2-PRP and 1-PPR) robot augmented with a nonlinear disturbance observer

Singh, Yogesh; Mohan, Santhakumar

doi:10.1016/j.mechmachtheory.2015.05.002

Cited by 48 publications

(31 citation statements)

References 48 publications

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“…Proof of Theorem A1. Substitute (19) and (20) into the derivative of sliding surface in (13) to obtain . s(t) =d g (t) − γs(t).…”

Section: Discussionmentioning

confidence: 99%

“…Suppressing disturbance is the main target of SMC, but it cannot eliminate disturbance completely. Some researches utilize the disturbance estimators to overcome external disturbance [20,21]; the papers develop SMC to integrate with the disturbance estimator for the controlled system with undesired disturbance [22][23][24][25]. The authors of [25] propose the observer-based SMC for the controlled system with external disturbances.…”

Section: Introductionmentioning

confidence: 99%

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Design of Robust Trackers and Unknown Nonlinear Perturbation Estimators for a Class of Nonlinear Systems: HTRDNA Algorithm for Tracker Optimization

et al. 2019

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A robust linear quadratic analog tracker (LQAT) consisting of proportional-integral-derivative (PID) controller, sliding mode control (SMC), and perturbation estimator is proposed for a class of nonlinear systems with unknown nonlinear perturbation and direct feed-through term. Since the derivative type (D-type) controller is very sensitive to the state varying, a new D-type controller design algorithm is developed to avoid an unreasonable large value of the controller gain. Moreover, the boundary of D-type controller is discussed. To cope with the unknown perturbation effect, SMC is utilized. Based on the fast response of SMC controlled systems, the proposed perturbation estimator can estimate unknown nonlinear perturbation and improve the tracking performance. Furthermore, in order to tune the PID controller gains in the designed tracker, the nonlinear perturbation is eliminated by the SMC-based perturbation estimator first, then a hybrid Taguchi real coded DNA (HTRDNA) algorithm is newly proposed for the PID controller optimization. Compared with traditional DNA, a new HTRDNA is developed to improve the convergence performance and effectiveness. Numerical simulations are given to demonstrate the performance of the proposed method.

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“…Proof of Theorem A1. Substitute (19) and (20) into the derivative of sliding surface in (13) to obtain . s(t) =d g (t) − γs(t).…”

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of Robust Trackers and Unknown Nonlinear Perturbation Estimators for a Class of Nonlinear Systems: HTRDNA Algorithm for Tracker Optimization

et al. 2019

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“…In the disturbance observer is popular because of considering the disturbance model acting on each joint of the robot and estimating the unknown parameters of the system such as torque and forces. The independent joint control the disturbance observer considers the varying load [10], dynamic uncertainties [11], friction force [12,13], unmodeled dynamics as the lumped disturbance term [14]. By the use of linear matrix inequality (LMI) the disturbance observer is designed for the slow varying disturbances.…”

Section: Introductionmentioning

confidence: 99%

Distributed association rule mining with minimum communication overhead

Verma¹,

Chauhan²,

Gupta³

2019

JESA

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This paper attempts to control the motion of a surgical robot to perform surgeries in an accurate and precise manner. In the target robot, two revolute joints, one prismatic joint and one revolute joint are connected in series, i.e. the 2PRP configuration. The external disturbances on the 2PRP robot were estimated, and the dynamic modelling of the robot was performed using the Newton-Euler formulation. Then, a control system was designed to control the robot motion by the torque computed based on the data collected by the disturbance observer, which compensates for the disturbance-induced error. The surgical robot and control system were simulated in MATLAB/Simulink. The results show that the designed control system can effectively compensate for the position error and control the robot motion in surgeries.

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“…The fractional SMC is used in control and state estimation for a class of noncommensurate systems in [17]. Considering the parameter uncertainties and external disturbances, a robust SMC with an active disturbance compensator is proposed for a planar parallel manipulator [18].…”

Section: Introductionmentioning

confidence: 99%

Structure design and rotation control of the disc milling head in blisk manufacturing

Zhao

Huang

Shi

2016

Int J Adv Manuf Technol

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Blisks are the most important and critical components in the gas turbine engines, which could reduce the weight obviously and improve the efficiency significantly. To achieve high efficient machining of the titanium-based blisk, a powerful and composite processing method is proposed and structure of disc milling head with high stiffness and high precision is designed, including mechanical transmission, electrical system, rotating control, locking device, and tool changer. Then, static and dynamic analyses are carried out for the disc milling head, and calculation results show that the static and dynamic performances are perfect, which satisfy the processing requirements. Considering friction and backlash in the worm gear transmission, parameters perturbation in the electrical control system, and process noise and measurement noise in the system have serious impact on the positioning precision of disc milling rotation system, a robust sliding mode control (SMC) algorithm based on linear quadratic optimal control (LQC) is proposed. Based on the traditional LQC, introduce the state estimation based on Kalman filter and control input, improve the system state space model, and define a new sliding surface equation, then, a robust SMC based on LQC is finished. Simulation and experiment results show that the designed controller is robust to the nonlinearities and uncertainties in the rotation control system of disc milling head and can achieve high positioning precision.

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Inverse dynamics and robust sliding mode control of a planar parallel (2-PRP and 1-PPR) robot augmented with a nonlinear disturbance observer

Cited by 48 publications

References 48 publications

Design of Robust Trackers and Unknown Nonlinear Perturbation Estimators for a Class of Nonlinear Systems: HTRDNA Algorithm for Tracker Optimization

Design of Robust Trackers and Unknown Nonlinear Perturbation Estimators for a Class of Nonlinear Systems: HTRDNA Algorithm for Tracker Optimization

Distributed association rule mining with minimum communication overhead

Structure design and rotation control of the disc milling head in blisk manufacturing

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