Nonlinear adaptive control for dynamic and dead-zone uncertainties in robotic systems

Liu, Xia; Jiang, Wei; Dong, Xiucheng

doi:10.1007/s12555-015-0449-5

Cited by 19 publications

(13 citation statements)

References 12 publications

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“…It is a combination of a controller and observer; it estimates the system states and perturbation and uses that information to control an uncertain system. An estimated sliding surface is defined as: (17) whereê =x 1 − x d is the estimated error and c is a constant value greater than 0. The estimated error of the sliding surface is shown below.…”

Section: Integration Of Smc and Spo (Smcspo)mentioning

confidence: 99%

“…Simulation and experimental results are presented for a link between the hydraulic robot manipulator and the mass damper system.It is used as a robust controller for a system with non-linearity. However, there is a problem with conventional SMC when the system reaches the sliding surface, because it is difficult to remain along the sliding surface due to a high gain switching control system output crossing back and forth around the sliding surface which causes chattering [15][16][17].Chattering can be reduced by perturbation compensation where the perturbation consists of the uncertainties of a system, error of the dynamics, and external disturbances. Perturbation measurement or estimation is a challenging task for researchers because measuring external forces using a force sensor is not feasible in all instances, and by using a sensor we cannot estimate system uncertainties, etc.…”

mentioning

confidence: 99%

“…It is used as a robust controller for a system with non-linearity. However, there is a problem with conventional SMC when the system reaches the sliding surface, because it is difficult to remain along the sliding surface due to a high gain switching control system output crossing back and forth around the sliding surface which causes chattering [15][16][17].…”

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confidence: 99%

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Efficient Control of a Non-Linear System Using a Modified Sliding Mode Control

2019

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Trajectory tracking is an essential requirement in robot manipulator movement and localization applications. It is a current research topic of interest, and several researchers have proposed different schemes to achieve the task accurately. This research proposes efficient control of a hydraulic non-linear robot manipulator using a modified sliding mode control, named proportional derivative sliding mode control with sliding perturbation observer (PDSMCSPO), to overcome parameter uncertainties and non-linearity. The proposed new control strategy achieves higher accuracy and better time convergence than the previous one. A positive derivative gain, which has a value less than one, is multiplied with the velocity error term of the sliding surface. The proposed control (PDSMCSPO) also achieves robustness. Results show that by introducing the derivative gain, the chattering from the system has been reduced more than classical sliding mode control (SMC). The reason is that during reaching phase this small gain multiplies with the perturbation and minimizes the effect of perturbation on the system. A smaller value of switching gain K is required as compared to SMC, and the transfer function between sliding surface and perturbation in proportional derivative sliding mode control (PDSMC)has low pass filter characteristics. The proposed PDSMCSPO has a faster response than previous sliding mode control with sliding perturbation observer (SMCSPO), and the output and sliding surface convergence to the desired value is much quicker than conventional logic. Some other characteristics such as error in the output are small because of more attenuation of the perturbation signal. Simulation and experimental results are presented for a link between the hydraulic robot manipulator and the mass damper system.

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Section: Integration Of Smc and Spo (Smcspo)mentioning

confidence: 99%

mentioning

confidence: 99%

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Efficient Control of a Non-Linear System Using a Modified Sliding Mode Control

2019

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“…This control consists of reaching and sliding phases in which the system reaches the sliding surface and remains on it. However, because of non-linearities, high switching gains are required, causing the system to shift back and forth on the desired surface and introduce chatter to the system response [38]. To remove the chatter, a non-linear compensator, known as sliding perturbation observer (SPO) [39,40], is introduced.…”

Section: Introductionmentioning

confidence: 99%

DPSO and Inverse Jacobian-Based Real-Time Inverse Kinematics With Trajectory Tracking Using Integral SMC for Teleoperation

2020

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A six-degree-of-freedom robotic manipulator inverse kinematics (IK) for position control is proposed for the bilateral teleoperation process that is implemented through a joystick for nuclear power plant dismantling operations. The control strategy of the manipulator includes the use of the joystick to generate the Cartesian space trajectory followed by the IK to yield the joint space trajectory for implementing position control. In this paper, a novel technique for the IK is proposed. It involves the use of the particle swarm optimization (PSO) algorithm with the inverse Jacobian (IJ). The special case of the dual PSO is based on dividing the PSO algorithm into two such that the trajectory position and orientation are separately optimized by the algorithms, resulting in a faster convergence. In contrast, the inverse Jacobian aids in generating a smooth joint trajectory. The integral sliding mode control (ISMC) is proposed for position control because it does not require information on system dynamics. The ISMC improves the system trajectory tracking performance by using a switching gain to compensate for system dynamics and perturbations (disturbance and unmatched uncertainties), ultimately reducing the time delay. The effectiveness of the PSO combined with the IJ and the robustness of the ISMC in the teleoperation process are confirmed by the experimental results. INDEX TERMS Teleoperation, inverse kinematics, robotic manipulator, PSO, inverse Jacobian, ISMC

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“…Wang et al [36] discussed the trajectory control for underwater manipulator systems by applying a discrete time-delay estimation methodology. Liu et al [37] investigated the adaptive control law to achieve accurate tracking of the desired position. They also considered the uncertainties and non-linearities, as well as the dead-zones.…”

Section: Introductionmentioning

confidence: 99%

Tele-Operated Bilateral Control of Hydraulic Manipulator Using a Robust Controller Based on the Sensorless Estimated Reaction Force

et al. 2019

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In nuclear power plants (NPP), dismantling is the most technically involved process during their life time. During the dismantling process, public safety must be ensured. In crisis situations, a remotely controlled robot system is needed for the dismantling of NPP. Therefore, in this research, a bilateral tele-operation system is proposed to tackle these emergency conditions. Transparency can be improved by using force and position signal in the control strategy. In some applications, force cannot be determine directly using physical sensors. In this work, a novel tele-operated bilateral control strategy is proposed to estimate the reaction force of 3-degree-of-freedom (DOF) master and hydraulic slave manipulators without the use of a sensor. The control strategy is developed by using sliding mode control with sliding perturbation observer (SMCSPO). The sliding perturbation observer (SPO) estimates the reaction force at the end effector and second link without using sensors. The sliding mode control (SMC) is used as a tele-operated bilateral controller for the robust position tracking and control of the slave device. The impedance model is used to differentiate between the applied force (force exerted by operator) and the reaction force due to the remote environment. Different experiments were performed to verify the proposed strategy. The results indicate that the slave manipulator exactly follows the trajectory of the master device. A camera is used to take visual feedback of the workspace for safety purpose. This technique can also be applied for higher-order DOF manipulators in NPP.

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Nonlinear adaptive control for dynamic and dead-zone uncertainties in robotic systems

Cited by 19 publications

References 12 publications

Efficient Control of a Non-Linear System Using a Modified Sliding Mode Control

Efficient Control of a Non-Linear System Using a Modified Sliding Mode Control

DPSO and Inverse Jacobian-Based Real-Time Inverse Kinematics With Trajectory Tracking Using Integral SMC for Teleoperation

Tele-Operated Bilateral Control of Hydraulic Manipulator Using a Robust Controller Based on the Sensorless Estimated Reaction Force

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