Sampled-data extended state observer-based backstepping control of two-link flexible manipulator

Sahu, Umesh Kumar; Subudhi, Bidyadhar; Patra, Dipti

doi:10.1177/0142331219832954

Cited by 15 publications

(10 citation statements)

References 30 publications

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“…The physical parameters of TLFM considered for simulation studies are given in [22]. In the simulation, the focal length of the camera and scale factor is considered of 0.008 m and 0.2 pixel/m, respectively.…”

Section: Resultsmentioning

confidence: 99%

“…difference of total kinetic energy and total potential energy in (4) and solving for the

q_{i}

generalised coordinates, the dynamics of TLFM can be expressed as

M false(θ_{i}, δ_{i} false) (][, \begin{matrix} 1em4pt \\ {\ddot{θ}}_{i} \\ {\ddot{δ}}_{i} \end{matrix}) + (][, \begin{matrix} 1em4pt \\ {bold-italicc}_{1} false(θ_{i}, δ_{i}, {\dot{θ}}_{i}, {\dot{δ}}_{i} false) \\ {bold-italicc}_{2} false(θ_{i}, δ_{i}, {\dot{θ}}_{i}, {\dot{δ}}_{i} false) \end{matrix}) + K (][, \begin{matrix} 1em4pt \\ 0 \\ δ_{i} \end{matrix}) + D (][, \begin{matrix} 1em4pt \\ 0 \\ δ_{i} \end{matrix}) = (][, \begin{matrix} 1em4pt \\ τ_{i} \\ 0 \end{matrix})

In (5), M is the positive definite symmetric inertia matrix,

{bold-italicc}_{1}

and

{bold-italicc}_{2}

are the Coriolis and centrifugal force vectors, respectively, K is the stiffness matrix, and D is the damping matrix. The details of the matrices and vectors of (5) are given in [22].…”

Section: Dynamics Of Tlfm and Camera Modellingmentioning

confidence: 99%

“…Therefore, the dynamics of TLFM is derived by using the Euler-Lagrangian formulation technique along with the assumed mode method (AMM) [21]. In this work, it is assumed that motion of the TLFM is in the horizontal plane; the links have uniform material properties and have a constant cross-sectional area [22]. The schematic diagram of TLFM with a tip-mounted camera is shown in Fig.…”

Section: Tlfm Dynamicsmentioning

confidence: 99%

“…In (5), M is the positive definite symmetric inertia matrix, c 1 and c 2 are the Coriolis and centrifugal force vectors, respectively, K is the stiffness matrix, and D is the damping matrix. The details of the matrices and vectors of (5) are given in [22]. The state-space formulation of (5) can be rewritten as…”

Section: Tlfm Dynamicsmentioning

confidence: 99%

See 3 more Smart Citations

Vision‐based tip position tracking control of two‐link flexible manipulator

Sahu

Patra

Subudhi

2020

IET cyber-systems robotics

Self Cite

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Owing to the non-collocation of actuators and sensors in a flexible-link manipulator (FLM) it becomes difficult to achieve accurate tip position tracking. To resolve this issue, a vision sensor is used for direct measurement of the tip position instead of employing the traditional mechanical sensors. Among the different visual servoing (VS) control schemes, imagebased VS (IBVS) is more effective. However, there are many challenges in the IBVS scheme such as singularities in the interaction matrix and local minima in trajectories that affect the system performance in real-time applications. In this study, the moment-based new visual feature is selected to address the aforesaid issues that arise in the IBVS scheme. Furthermore, a new two-time scale IBVS controller is developed for addressing the tip-tracking control problem of the two-link flexible manipulator (TLFM). In the proposed control scheme, the dynamics of the FLM is decomposed into two-time scale models, namely a slow subsystem and a fast subsystem. The performance and robustness of the proposed new two-time scale IBVS controller for TLFM are verified by pursuing simulation studies. It is observed from the obtained results that the proposed controller effectively stabilises the oscillatory dynamics and tracks the reference trajectory accurately.

show abstract

Section: Resultsmentioning

confidence: 99%

“…difference of total kinetic energy and total potential energy in (4) and solving for the

q_{i}

generalised coordinates, the dynamics of TLFM can be expressed as

M false(θ_{i}, δ_{i} false) (][, \begin{matrix} 1em4pt \\ {\ddot{θ}}_{i} \\ {\ddot{δ}}_{i} \end{matrix}) + (][, \begin{matrix} 1em4pt \\ {bold-italicc}_{1} false(θ_{i}, δ_{i}, {\dot{θ}}_{i}, {\dot{δ}}_{i} false) \\ {bold-italicc}_{2} false(θ_{i}, δ_{i}, {\dot{θ}}_{i}, {\dot{δ}}_{i} false) \end{matrix}) + K (][, \begin{matrix} 1em4pt \\ 0 \\ δ_{i} \end{matrix}) + D (][, \begin{matrix} 1em4pt \\ 0 \\ δ_{i} \end{matrix}) = (][, \begin{matrix} 1em4pt \\ τ_{i} \\ 0 \end{matrix})

In (5), M is the positive definite symmetric inertia matrix,

{bold-italicc}_{1}

and

{bold-italicc}_{2}

are the Coriolis and centrifugal force vectors, respectively, K is the stiffness matrix, and D is the damping matrix. The details of the matrices and vectors of (5) are given in [22].…”

Section: Dynamics Of Tlfm and Camera Modellingmentioning

confidence: 99%

Section: Tlfm Dynamicsmentioning

confidence: 99%

Section: Tlfm Dynamicsmentioning

confidence: 99%

See 2 more Smart Citations

Vision‐based tip position tracking control of two‐link flexible manipulator

Sahu

Patra

Subudhi

2020

IET cyber-systems robotics

Self Cite

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show abstract

“…Si et al (2017) proposed a fast non-singular terminal sliding mode control for trajectory tracking of the two-link flexible manipulators with payload and external disturbances. Backstepping control based on a continuous-time extended state observer and a sampled-data extended state observer was proposed by Sahu and Patra (2016) and Sahu et al (2019b), respectively, to solve tip tracking control problem of two-link flexible manipulator. Wang et al (2018) proposed an adaptive fault-tolerant controller using the backstepping technique for a flexible manipulator with bounded disturbance, actuator partial failure, and output constraints.…”

Section: Model-free Control Techniquesmentioning

confidence: 99%

Review on Modeling and Control of Flexible Link Manipulators

Subedi¹,

Tyapin²,

Hovland³

2020

MIC

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This paper presents a review of dynamic modeling techniques and various control schemes to control flexible link manipulators (FLMs) that were studied in recent literature. The advantages and complexities associated with the FLMs are discussed briefly. A survey of the reported studies is carried out based on the method used for modeling link flexibility and obtaining equations of motion of the FLMs. The control techniques are reviewed by classifying them into two main categories: model-based and model-free control schemes. The merits and limitations of different modeling and control methods are highlighted.

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Tracking control of a flexible‐link manipulator based on an improved barrier function adaptive sliding mode

Jing,

Ma,

Wang

et al. 2024

Asian Journal of Control

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In this paper, a novel controller designed for robust tracking control of a flexible‐link manipulator operating in the presence of parameter uncertainties and external disturbances within the joint space is introduced. The proposed controller employs an adaptive sliding mode control approach, incorporating an improved barrier function, to ensure that trajectory errors remain within predefined performance bounds. This design enhances the tracking performance without overestimating control‐switching gains. Additionally, a fixed‐time adaptive sliding mode control, featuring a rapid nonsingular terminal sliding mode variable, is introduced to expedite the convergence rate of the system state during the initial stages. The efficacy of the proposed control scheme is established through the Lyapunov method, demonstrating finite‐time convergence of the trajectory error to a specified neighborhood of zero. Experimental validation on a flexible‐link system supports the effectiveness and advantages of the proposed control strategy, as evidenced via comparisons with two existing adaptive control schemes.

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Sampled-data extended state observer-based backstepping control of two-link flexible manipulator

Cited by 15 publications

References 30 publications

Vision‐based tip position tracking control of two‐link flexible manipulator

Vision‐based tip position tracking control of two‐link flexible manipulator

Review on Modeling and Control of Flexible Link Manipulators

Tracking control of a flexible‐link manipulator based on an improved barrier function adaptive sliding mode

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