Passivity-Based Robust Compliance Control of Electro-Hydraulic Robot Manipulators With Joint Angle Limit

Lee, Woongyong; Yoo, Sunkyum; Nam, Seokho; Kim, Kee Hoon; Chung, Wan Kyun

doi:10.1109/lra.2020.2975724

Cited by 20 publications

(12 citation statements)

References 20 publications

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“…Owing to excellent characteristics including small weight-to-power ratio, fast and smooth response, ability to generate tremendous force/torque, and so on, 1 electro-hydraulic servo systems (EHSSs) have been broadly adopted as major actuation components for hydraulic robot manipulators, [2][3][4] hydraulic active suspensions, 5 hydraulic human power amplifiers, 6 and so forth in both industry and academia. Hence, as one of the most popular control problems for such EHSSs, the position tracking control has been currently receiving a vast amount of attention in recent years.…”

Section: Introductionmentioning

confidence: 99%

Extended sliding mode observer‐based high‐accuracy motion control for uncertain electro‐hydraulic systems

Nguyen

Dao

Ahn

2022

Intl J Robust & Nonlinear

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In this paper, a novel robust backstepping control strategy is introduced to achieve high‐accuracy tracking performance for electro‐hydraulic servo systems (EHSSs) without velocity information in the presence of uncertainties and disturbances. Firstly, system dynamics of the studied EHSS considering parameter deviations, modeling errors, and unknown external loads which are grouped into lumped mismatched and matched disturbances in the mechanical system and pressure dynamics, respectively, are developed. On the basis of the sliding mode theory, two extended sliding mode observers (ESMOs) are originally established to simultaneously estimate the immeasurable angular velocity of the actuator, and lumped mismatched and matched uncertainties. As a consequence, an observer‐based controller is designed using the conventional backstepping technique to ensure a highly accurate tracking position control. In addition, the stability of the observer and overall closed‐loop control system is conclusively proven through the Lyapunov theory. Finally, several numerical simulations for an EHSS with a hydraulic rotary actuator are conducted to demonstrate the advantage of the recommended method compared to the existing well‐known extended state observer‐based control approaches.

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Section: Introductionmentioning

confidence: 99%

Extended sliding mode observer‐based high‐accuracy motion control for uncertain electro‐hydraulic systems

Nguyen

Dao

Ahn

2022

Intl J Robust & Nonlinear

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“…4 As technology evolves, the study of flexible-joint robotic manipulators (FJRM) has received close attention from researchers and has become a popular topic in last few years. Since the FJRM is a highly nonlinear system, in order for FJRM to work well with the surrounding, scholars have developed diverse control methods, such as feedback linearization control, 5,6 passivity control, 7,8 singular perturbation control, 9,10 adaptive sliding mode control (SMC), 11,12 proportional-derivative control, 13,14 fault tolerant control, 15,16 and adaptive backstepping control. 15,17,18 Among them, the backstepping technique is a Lyapunov-based recursive scheme, which is a broadly used method for nonlinear system control.…”

Section: Introductionmentioning

confidence: 99%

Estimator and command filtering-based neural network control for flexible-joint robotic manipulators driven by electricity

Wen

2022

International Journal of Advanced Robotic Systems

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The article proposes an estimator and command filtering-based adaptive neural network controller for the electrically driven flexible-joint robotic manipulators with output constraints under the circumstance of matched and mismatched disturbances in system dynamics. The presented method is designed based on electrically driven model of the n-link flexible-joint robotic manipulators, which introduces more uncertainties and increases the dimensionality of the system but is more in line with practical. In view of the properties of fast convergence speed and great estimation performance in radial basis function neural network, radial basis function neural network is used to approximate the internal uncertain dynamic parameters of the system. An observer-based estimator is introduced for estimating the matched and mismatched disturbances in flexible-joint robotic manipulator dynamics. As to the differential explosion problem in backstepping control design, this article utilizes second-order command filters to overcome it. This article also adopts barrier Lyapunov functions for implementing output constraint to consider security issues in practical use. For demonstrating the effectiveness of the proposed controller, numerical simulations on two-link flexible-joint robotic manipulators are conducted. On the basis of the comparisons among estimator and command filtering-based adaptive neural network controller and other advanced controllers, the superiorities of estimator and command filtering-based adaptive neural network controller in several areas are proved.

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“…31 Fuzzy algorithm 32 and neural network algorithms 33 were introduced into PID to improve the adaptive ability to unknown disturbances. Adaptive control 34 and robust control 35 have also attracted the attention of numerous researchers for the effectiveness in improving control performance. Fuzzy SMC combined with ADRC is applied to a seven-degree-of-freedom active suspension system.…”

Section: Introductionmentioning

confidence: 99%

Electro-hydraulic position servo system based on sliding mode active disturbance rejection compound control

Zhao

Wang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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This study proposes a compound control method based on sliding mode and active disturbance rejection control to address the difficulty of controlling the cutting head for boom-type roadheader with parameter changes and uncertain disturbances. The fastest discrete tracking differentiator and extended state observer based on the traditional active disturbance rejection control are designed. Additionally, the controller of the sliding mode and active disturbance rejection control is constructed. Theoretical analysis indicates that the proposed controller ensures asymptotic stability, despite the existing uncertain disturbances. Moreover, a system based on AMESim and MATLAB/Simulink Co-simulation model is developed to further verify the performance of proposed algorithm. Compared with traditional active disturbance rejection control, proportional-integral-derivative(PID) and sliding mode control, co-simulation results demonstrate that the sliding mode active disturbance rejection compound control improves the tracking accuracy and robustness of the position servo system.

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Passivity-Based Robust Compliance Control of Electro-Hydraulic Robot Manipulators With Joint Angle Limit

Cited by 20 publications

References 20 publications

Extended sliding mode observer‐based high‐accuracy motion control for uncertain electro‐hydraulic systems

Extended sliding mode observer‐based high‐accuracy motion control for uncertain electro‐hydraulic systems

Estimator and command filtering-based neural network control for flexible-joint robotic manipulators driven by electricity

Electro-hydraulic position servo system based on sliding mode active disturbance rejection compound control

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