Nonlinear state feedback position control for flexible joint robot with energy shaping

Yin, Wei; Sun, Lei; Wang, Meng; Liu, Jingtai

doi:10.1016/j.robot.2017.10.007

Cited by 19 publications

(11 citation statements)

References 24 publications

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“…Theorem 1. For the FRJ dynamic system (4) with Properties 1 and 2, using the CF (7), the error compensation mechanism (11), the virtual control signals and the control law in (12) with the adaptive updating law (12), then the finite-time boundedness of the closed-loop signals is guaranteed, and the tracking errorq j is bounded in finite-time T 1 such that:…”

Section: Control Design and Stability Analysismentioning

confidence: 99%

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Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots

Datouo¹,

Ahanda

Melingui³

et al. 2020

Robotica

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SUMMARY The problem of finite-time tracking control for n-link flexible-joint robot manipulators is addressed. An adaptive fuzzy finite-time command-filtered backstepping control scheme is presented to solve the following problems: “explosion of terms” problem, finite-time stabilization of the closed-loop system, and the reduction of computational cost. To this end, new virtual adaptive control signals and new finite-time error compensation mechanism are constructed using inherent properties of robot manipulator systems. Based on the Lyapunov theory, the finite-time stabilization of the closed-loop system is proved. Simulation studies show the effectiveness of the proposed method.

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Section: Control Design and Stability Analysismentioning

confidence: 99%

“…The energy shaping control method with gravity compensation is revisited in ref. [11] to perform a position controller. Soltanpour et al 12 developed a position controller based on voltage sliding mode approach.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots

Datouo¹,

Ahanda

Melingui³

et al. 2020

Robotica

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“…A method for vibration avoidance throughout trajectories of a flexible robot manipulator is also proposed comprising the hysteretic and leading mechanisms to maintain a steady pace (Zhang, 2018). Furthermore, a nonlinear-state feedback controller along with energy shaping is provided for vibration suppression and overshoot reduction of motor position (Yin et al, 2018). Liang et al (2018) also used proportional-differential feedback controller with strain and strain rate feedback for vibration control and trajectory tracking of a 2 degree-of-freedom (DOF) flexible parallel manipulator using piezoelectric transducers.…”

Section: Introductionmentioning

confidence: 99%

Vibration reduction of a flexible robot link using a frictional damper

Biglari

Golmohammadi

Hayati

et al. 2020

Journal of Vibration and Control

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One of the most important factors reducing flexible manipulator efficiency is the residual vibration occurrence. In this research, vibration reduction of flexible manipulators is investigated using an internal frictional damper. At first, the vibration equation of a manipulator is obtained using the finite element method with the Euler–Bernoulli beam element to study its vibrations in a reciprocal motion. In addition, an analytical model is developed to investigate the effect of the frictional damper on robot link vibrations. Using particle swam optimization, ICA, NSGA-II, and GWO methods, the optimal structure for the damper is obtained to maximize its effect. The optimally damped link is fabricated, and its dynamic characteristics are extracted from a modal test experiment. The modal test results show a considerable improvement in the damping ratio of the damped link in comparison with a simple link. The fabricated link samples are then tested in a realistic situation. The experimental results are in coincidence with the simulation results, certifying the performance of the proposed plan in vibration reduction of a robot link.

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“…A detailed comparison among our proposed controller and the other control methods for flexible-joint robotic systems is given in Table 1. As illustrated in Table 1, Tomei (1991), De Luca et al (2005) and Yin et al (2018) proposed their control methods based on the torque control strategy (the actuator’s dynamics have been neglected) for the set-point regulation control of flexible-joint robots. Also, the asymptotic stability of the closed-loop system was ensured in these control schemes.…”

Section: Introductionmentioning

confidence: 99%

Composite direct adaptive Taylor series – fuzzy controller for the robust asymptotic tracking control of flexible-joint robots

Ahmadi

Fateh

2019

Transactions of the Institute of Measurement and Control

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Recent developments in the use of Taylor series-based controllers have increased the need for utilizing Taylor series system for complex nonlinear systems. This research aims at developing a direct adaptive controller for the tracking control of electrically-driven flexible-joint robotic manipulators. In our direct adaptive method, the decentralized controller benefits by two control terms, namely a Taylor series estimator to approximate an ideal controller for the diminution of joint tracking error in the presence of lumped uncertainty and also a fuzzy estimator to compensate an approximation error. The joint tracking error and its time derivatives up to the second order are guaranteed to converge asymptotically to zero by means of the stability analysis. To obtain better control performance, the particle swarm optimization is used for selecting the control parameters. Simple and accurate design, small joint tracking error and no need of bounding functions are the main advantages of proposed control method. Finally, numerous simulation studies are included to verify the efficiency of the controller.

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Nonlinear state feedback position control for flexible joint robot with energy shaping

Cited by 19 publications

References 24 publications

Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots

Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots

Vibration reduction of a flexible robot link using a frictional damper

Composite direct adaptive Taylor series – fuzzy controller for the robust asymptotic tracking control of flexible-joint robots

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