Linear-extended-state-observer-based prescribed performance control for trajectory tracking of a robotic manipulator

Xu, Bingjie; Ji, Shuai; Zhang, Chengrui; Chen, Chao; Ni, Hepeng; Wu, Xiaojian

doi:10.1108/ir-07-2020-0150

Cited by 12 publications

(7 citation statements)

References 22 publications

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“…According to Lemma 1, the estimation error of ẽ(t) = x(t) − x(t) will converge to zero as t → ∞ such that x(t) → x(t) . That is, the total disturbance can be estimated by the LESO, as described earlier (19) [41]. The general proofs of LESO stability [42] and its convergence [43] are then provided.…”

Section: Linear Extended State Observer Designmentioning

confidence: 99%

Hardware Development and Safety Control Strategy Design for a Mobile Rehabilitation Robot

Lee

et al. 2022

Applied Sciences

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The use of bodyweight unloading force control on a treadmill with therapist manual assistance for gait training imposes constraints on natural walking. It influences the patient’s training effect for a full range of natural walks. This study presents a prototype and a safety controller for a mobile rehabilitation robot (MRR). The prototype integrates an autonomous mobile bodyweight support system (AMBSS) with a lower-limb exoskeleton system (LES) to simultaneously achieve natural over-ground gait training and motion relearning. Human-centered rehabilitation robots must guarantee the safety of patients in the presence of significant tracking errors. It is difficult for traditional stiff controllers to ensure safety and excellent tracking accuracy concurrently, because they cannot explicitly guarantee smooth, safe, and overdamped motions without overshoot. This paper integrated a linear extended state observer (LESO) into proxy-based sliding mode control (ILESO-PSMC) to overcome this problem. The LESO was used to observe the system’s unknown states and total disturbance simultaneously, ensuring that the “proxy” tracks the reference target accurately and avoids the unsafe control of the MRR. Based on the Lyapunov theorem to prove the closed-loop system stability, the proposed safety control strategy has three advantages: (1) it provides an accurate and safe control without worsening tracking performance during regular operation, (2) it guarantees safe recoveries and overdamped properties after abnormal events, and (3) it need not identify the system model and measure unknown system states as well as external disturbance, which is quite difficult for human–robot interaction (HRI) systems. The results demonstrate the feasibility of the proposed ILESO-PSMC for MRR. The experimental comparison also indicates better safety performance for the ILESO-PSMC than for the conventional proportional–integral–derivative (PID) control.

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Section: Linear Extended State Observer Designmentioning

confidence: 99%

Hardware Development and Safety Control Strategy Design for a Mobile Rehabilitation Robot

Lee

et al. 2022

Applied Sciences

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“…Literature [11] proposed a prescribed performance controller based on linear extended state observer (LESO) to solve the problem of stabilization of complex transformation systems and improve control accuracy. Xu B et al proposed an orthogonal fuzzy PID [12]. However, most of the works in the literature that consider the joint tracking problem do not address the error constraint during the operation.…”

Section: Introductionmentioning

confidence: 99%

TDE-Based Adaptive Super-Twisting Multivariable Fast Terminal Slide Mode Control for Cable-Driven Manipulators With Safety Constraint of Error

Kong

et al. 2023

IEEE Access

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An adaptive super-twisting multivariable fast terminal sliding mode control scheme based on time delay estimation (TDE) and asymmetric error constraints are proposed to guarantee high-precision trajectory tracking control of cable-driven manipulators under complicated unknown uncertainties. The control system is constrained by joint position errors, which are asymmetric and time-varying. First, the error range of the joints is designed to ensure that the deviation of the joint position from the desired profile is not too large while ensuring the safety performance of the manipulator, and the remaining set-total system dynamics are estimated and compensated using time-delay estimation. Secondly, the design analysis of the angular false expectation using safety constraint functions allows the constraints of different cross sections to be handled in a unified system architecture; the problem of robotic arm motion trajectories with output constraints and uncertainties is addressed through rigorous analysis. The super-twisting adaptive control effectively ensures fast, accurate and robust convergence of the algorithm in satisfying all constraints in operation, and the stability of the closed-loop control system is analyzed using the Lyapunov method. Finally, the effectiveness and superiority of the proposed adaptive hyper-torsional non-singular terminal sliding mode control scheme are verified by simulations and experiments in 2-DOF.INDEX TERMS Cable-diven manipulator, asymmetric error constraint, TDE scheme, adaptive supertwisting control.

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“…Linear extended state observer (LESO) was proposed by reference [7], which can estimate the uncertainties and external disturbances of the system, so it is widely used in many fields. LESO was proposed to track robotic manipulator trajectory in reference [8]. A novel global nonsingular fast terminal sliding mode control (GNFTSMC) method based on LESO is proposed by combining constant reaching law.…”

Section: Introductionmentioning

confidence: 99%

Global Nonsingular Fast Terminal Sliding Mode Control of Aerodynamic Heat Simulation Heating System Based on Linear Extended State Observer

Zhang

Ouyang

et al. 2022

J. Phys.: Conf. Ser.

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In this paper, a novel global nonsingular fast terminal sliding mode control (GNFTSMC) method based on linear extended state observer (LESO) is proposed for Aerodynamic Heat Simulation Heating System (AHSHS). The global nonsingular fast terminal sliding mode surface (GNFTSMS), comprising constant reaching law and LESO, establishes a closed-loop control for the whole control process. Firstly, the designed GNFTSMS eliminates the reaching stage, so that the whole control process is confined on the sliding mode surface. The fast term and nonsingular term ensure convergence speed in the sliding phase, and eliminate the singularity and suppress the chattering phenomenon. Then, the constant reaching law can effectively solve the problem of convergence stagnation in the control process and further accelerate the convergence speed. Then, LESO can feed back the observation of input disturbances and external disturbances to the control system. Furthermore, Lyapunov stability theorem is utilized to prove the stability of the closed-loop system. Finally, the simulation results verify that the proposed GNFTSMC method based on LESO is superior.

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Linear-extended-state-observer-based prescribed performance control for trajectory tracking of a robotic manipulator

Cited by 12 publications

References 22 publications

Hardware Development and Safety Control Strategy Design for a Mobile Rehabilitation Robot

Hardware Development and Safety Control Strategy Design for a Mobile Rehabilitation Robot

TDE-Based Adaptive Super-Twisting Multivariable Fast Terminal Slide Mode Control for Cable-Driven Manipulators With Safety Constraint of Error

Global Nonsingular Fast Terminal Sliding Mode Control of Aerodynamic Heat Simulation Heating System Based on Linear Extended State Observer

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