Sliding Mode Fault Tolerant Tracking Control for a Single-Link Flexible Joint Manipulator System

Chen, Yong; Guo, Bin

doi:10.1109/access.2019.2923789

Cited by 19 publications

(14 citation statements)

References 24 publications

(46 reference statements)

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“…where the desired image trajectories y d (t) andẏ d (t) are obtained by (15). We defines the reference velocity in the image planeẏ r (t) in (32), which is obtained from the position tracking error y (t) and the desired velocity trajectorẏ y d (t), and κ is the positive constant.…”

Section: B Design Of Adaptive Law For Camera Parametersmentioning

confidence: 99%

“…In fact, considering the design of both state estimators and tracking controllers is not limited to the study on visual tracking of dynamic target, but it comes from the work on the design of state estimators and controllers for uncertain control variables in more common mechanical systems. Such as in [15], for the tracking problem of the flexible joint manipulator, a composite observer is designed to estimate the fault and disturbance, and the sliding mode controller is designed for the fault-tolerant control. And as in [16], for the vibration of space manipulators for on-orbit service, neural network controller and disturbance are designed to suppress the influence of friction and dynamic coupling on joint control performance.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter

Zhang

Tang

et al. 2020

IEEE Access

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This paper focuses on the problem of visual tracking of a moving target with the temporary occlusion of image feature, a dynamic visual tracking control system for robot manipulator is developed by using adaptive fading Kalman filter (AFKF). The estimation of the residual covariance is used to compute the forgetting factor to automatically adjust the weight of the image observation data for improving the visual state estimation accuracy. When the target features are occluded, the prediction of missing observation sequence are generated by using the predicted compensation noise and preorder observation sequence to determine the forgetting factor for estimating the missing visual states. Then, a parameter adaptive law with projection error compensation is designed to realize the visual tracking with uncertain camera parameters. Finally, the trajectory tracking experiments based on a real robot platform is carried out to verify the performance of the proposed state estimator and tracking controller. The results show that the proposed method can accurately realize the visual tracking with the occluded trajectory and inaccurate camera parameters, which improves the flexibility of dynamic visual tracking of robot manipulator. INDEX TERMS Visual tracking, robot manipulation, Kalman filter, occlusion.

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Section: B Design Of Adaptive Law For Camera Parametersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter

Zhang

Tang

et al. 2020

IEEE Access

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“…In contrast, for the design of systems with uncertain parameters, some scholars have performed system design based on fault-tolerant methods [18,19]. e fault-tolerant method is mature and has been applied in many aspects [20][21][22]. e success of the faulttolerant method in the design of complex systems implies that it may also be effective in the verification of complex systems [23][24][25].…”

Section: Introductionmentioning

confidence: 99%

Interval Number-Based Safety Reasoning Method for Verification of Decentralized Power Systems in High-Speed Trains

Xiong

Liu

et al. 2021

Mathematical Problems in Engineering

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Decentralized power systems are commonly used in high-speed trains. However, many parameters in decentralized power systems are uncertain and inevitably have errors. We present a reasoning method based on the interval numbers for decentralized power systems in high-speed trains. Uncertain parameters and their unavoidable errors are quantitatively described by interval numbers. We also define generalized linear equations with interval numbers (LAIs), which can be used to describe the movement of the train. Furthermore, it is proven that the zero sets of LAIs are convex. Therefore, the inside of the fault-tolerance area can be formed by their vertexes and edges and represented by linear inequalities. Consequently, we can judge whether the system is working properly by verifying that the current system state is in the fault-tolerance area. Finally, a fault-tolerance area is obtained, which can be determined by linear equations with an interval number, and we test the correctness of the fault-tolerance area through large-scale random test cases.

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“…Majority of controllers designed for industrial robots are based on rigid-link assumption [ 16 ]. To take into account the joint flexibility, for n-link robots, it requires

generalized coordinates which define its entire dynamic behavior [ 17 ]. Therefore, due to flexibility in joint, the dynamical modelling becomes more complex compared to that of a rigid-link robotic manipulator.…”

Section: Introductionmentioning

confidence: 99%

Robust Output Feedback Control of Single-Link Flexible-Joint Robot Manipulator with Matched Disturbances Using High Gain Observer

Ullah

Malik

Raza

et al. 2021

Sensors

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This article focuses on the output feedback control of single-link flexible-joint robot manipulators (SFJRMs) with matched disturbances and parametric uncertainties. Formally, four sensing elements are required to design the controller for single-link manipulators. We have designed a robust control technique for the semiglobal stabilization problem of the angular position of the link in the SFJRM system, with the availability of only a position sensing device. The sliding mode control (SMC) based output feedback controller is devised for SFJRM dynamics. The nonlinear model of SFJRM is considered to estimate the unknown states utilizing the high-gain observer (HGO). It is shown that the output under SMC using HGO-based estimated states coincides with that using original states when the gains of HGO are sufficiently high. Finally, the results are presented showing that the designed control technique works well when the SFJRM model is uncertain and matched perturbations are expected.

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Sliding Mode Fault Tolerant Tracking Control for a Single-Link Flexible Joint Manipulator System

Cited by 19 publications

References 24 publications

Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter

Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter

Interval Number-Based Safety Reasoning Method for Verification of Decentralized Power Systems in High-Speed Trains

Robust Output Feedback Control of Single-Link Flexible-Joint Robot Manipulator with Matched Disturbances Using High Gain Observer

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