Predefined-Time Robust Hierarchical Inverse Dynamics on Torque-Controlled Redundant Manipulators

Obregon-Flores, Jonathan; Arechavaleta, Gustavo; Becerra, Héctor M.; Morales-Díaz, América Berenice

doi:10.1109/tro.2020.3042054

Cited by 24 publications

(22 citation statements)

References 40 publications

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“…We prove the equivalence between the proposed BAF, (31), and the original BAF, (23). From ( 11), ( 12), (21), and ( 22), the Coriolis/centrifugal force and gravity force terms in (23), which are acting on the OS, can be expressed as…”

Section: B Equivalence Of the Proposed Formula And The Original Formulamentioning

confidence: 78%

“…The second and third terms together represent the correction of acceleration induced by the Coriolis and centrifugal force and gravity force [2] (i.e., the difference between the one from the instantaneous space of the i th task motion without considering the previous tasks, and another from the instantaneous space of the i th task motion consistent with the previous (i−1) tasks). Overall, all those terms are accelerations, implying there may be an acceleration-level formula equivalent to (23).…”

Section: G Physical Meaning Of Original Bias Acceleration Formulamentioning

confidence: 99%

“…We present an efficient acceleration-level BAF. The proposed acceleration-level BAF is equivalent to the original BAF, (23), does not require the dynamic model of the robot except for the JS inertia matrix, M , and is, hence, highly efficient and independent of Coriolis/centrifugal and gravitational torques.…”

Section: Proposed Bias Acceleration Formulamentioning

confidence: 99%

“…Specifically, the joint control torques based on the OSF designed to achieve lower priority tasks do not affect the acceleration of higher priority tasks [6], [7]. This essential advantage allows the adoption of the OSF in wide robotic applications, including multi-arm systems [9], humanoid robots [2], [3], [5], [11], free-flying space robots [12], and underwater robots [13], even until recent years [14][15][16][17][18][19][20][21][22][23][24].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Efficient Acceleration-Level Formula of Bias Acceleration Satisfying Time Precedence for Operational Space Formulation

2022

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Operational space formulation has been used for robots to perform multi-tasks by taking advantage of dynamic consistency. Bias acceleration, which is an acceleration realized right after applying the control torque to a robot, compensates for the acceleration due to the higher priority tasks, thereby achieving the goal of the tasks with lower priority. Since the operational space formulation requires many computations during real-time control, there is a strong need to reduce the number of computations. We proposed an efficient acceleration-level bias acceleration formula while showing that the original bias acceleration formula could take 30-50% of the total computation for the operational space formulation. Moreover, we clarified the underlying time precedence of bias acceleration, which was implicitly provided in the original formula but was never clearly explained. Further, we have proved that the inefficiency of the original formula is due to the use of unnecessary full robot dynamics, the use of which is almost entirely eliminated in the proposed formula. Through extensive simulations and experiments, we have verified that the proposed formula needs 2-4% computations of the original, is independent of the Coriolis/centrifugal torque and the gravity torque, and is equivalent to the original formula. We expect that, with a deeper understanding of the bias acceleration, the proposed bias acceleration formula could promote the use of high degrees-of-freedom robots.

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Section: B Equivalence Of the Proposed Formula And The Original Formulamentioning

confidence: 78%

Section: G Physical Meaning Of Original Bias Acceleration Formulamentioning

confidence: 99%

Section: Proposed Bias Acceleration Formulamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Efficient Acceleration-Level Formula of Bias Acceleration Satisfying Time Precedence for Operational Space Formulation

2022

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“…In robotics, it is known that the task-function approach [ 33 ] allows the design of control laws to deal with problems involving several contradictory objectives. Although the task-function approach has been mainly used for the control of robot manipulators [ 34 ], there are examples of its application for triangular formation control of 3D vehicles [ 35 ] and formation control of unicycle-type robots [ 36 , 37 , 38 ]. Nevertheless, all the aforementioned works that have used null-space projectors to solve the formation control of nonholonomic robots are centralized control schemes relying on global measurements.…”

Section: Introductionmentioning

confidence: 99%

Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities

Martínez

Becerra

Gómez‐Gutiérrez

2021

Sensors

Self Cite

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In this paper, we addressed the problem of controlling the position of a group of unicycle-type robots to follow in formation a time-varying reference avoiding obstacles when needed. We propose a kinematic control scheme that, unlike existing methods, is able to simultaneously solve the both tasks involved in the problem, effectively combining control laws devoted to achieve formation tracking and obstacle avoidance. The main contributions of the paper are twofold: first, the advantages of the proposed approach are not all integrated in existing schemes, ours is fully distributed since the formulation is based on consensus including the leader as part of the formation, scalable for a large number of robots, generic to define a desired formation, and it does not require a global coordinate system or a map of the environment. Second, to the authors’ knowledge, it is the first time that a distributed formation tracking control is combined with obstacle avoidance to solve both tasks simultaneously using a hierarchical scheme, thus guaranteeing continuous robots velocities in spite of activation/deactivation of the obstacle avoidance task, and stability is proven even in the transition of tasks. The effectiveness of the approach is shown through simulations and experiments with real robots.

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Nonconservative adaptive practical predefined‐time sliding mode tracking of uncertain robotic manipulators

Sai,

Xu,

Cui

2023

Intl J Robust & Nonlinear

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In this article, a nonconservative predefined‐time sliding mode control (SMC) scheme and an adaptive practical predefined‐time SMC scheme are proposed for trajectory tracking of uncertain robotic manipulators. The nonconservative predefined‐time SMCer can achieve strong predefined‐time stability of a class of second‐order systems without dynamic uncertainties and disturbances. Nonetheless, even in the dynamic uncertainties and disturbances, we show that the studied scheme provides a nonconservative upper bound of settling time. Moreover, considering the unknown coupling uncertainty of the robotic system, adaptive laws are proposed to estimate the upper bound of the coupling uncertainty. Based on the proposed practical predefined‐time stability criterion, the designed adaptive practical predefined‐time SMCer is shown that the tracking error of the system can converge to a neighborhood of the origin within a predefined time, and the proposed controller weakens the chattering and no prior knowledge of the upper bound of the system uncertainty is required. Several simulation examples are conducted to show the feasibility of the proposed controller, especially evaluating the robustness and the nonconservative settling time.

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Predefined-Time Robust Hierarchical Inverse Dynamics on Torque-Controlled Redundant Manipulators

Cited by 24 publications

References 40 publications

Efficient Acceleration-Level Formula of Bias Acceleration Satisfying Time Precedence for Operational Space Formulation

Efficient Acceleration-Level Formula of Bias Acceleration Satisfying Time Precedence for Operational Space Formulation

Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities

Nonconservative adaptive practical predefined‐time sliding mode tracking of uncertain robotic manipulators

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