Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics

Xiao, Bing; Yin, Shen; Kaynak, Okyay

doi:10.1109/tie.2016.2569068

Cited by 237 publications

(102 citation statements)

References 44 publications

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“…Note that θ(t) in this section is not the pitch angle defined before. That provides desired performance in the existence of uncertainties, when the controller tracks the control input signal using a reference system model as described:x = A mx (t) + B(ω(t)u(t) +θ(t) x(t) L∝ +σ(t)) y = C Tx (t) (10) whereω(t),θ(t) andσ(t) are estimated parameters obtained from adaption laws in each iteration. Then, the error signalx(t) of the model is formed using the plant measured states x(t) and the estimated onesx(t).x (t) =x(t) − x(t)…”

Section: Adaptive Controlmentioning

confidence: 99%

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Pitch Channel Control of a REMUS AUV with Input Saturation and Coupling Disturbances

et al. 2018

Applied Sciences

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Abstract:The motion of an underwater vehicle is prone to be affected by time-varying model parameters and the actuator limitation in control practice. Adaptive control is an effective method to deal with the general system dynamic uncertainties and disturbances. However, the effect of disturbances control on transient dynamics is not prominent. In this paper, we redesign the L 1 adaptive control architecture (L1AC) with anti-windup (AW) compensator to guarantee robust and fast adaption of the underwater vehicle with input saturation and coupling disturbances. To reduce the fluctuation of vehicle states, the Riccati-based AW compensator is utilized to compensate the output signal from L1AC controller via taking proper modification. The proposed method is applied to the pitch channel of REMUS vehicle's six Degrees Of Freedom (DOF) model with strong nonlinearities and compared with L1AC baseline controller. Simulations show the effectiveness of the proposed control strategy compared to the original L1AC. Besides, the fluctuation in roll channel coupled with pitch channel is suppressed according to the performances of control tests.

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Section: Adaptive Controlmentioning

confidence: 99%

“…The key to adaptive control of underwater vehicle is to approach the challenges arising from nonlinearities of actuator, uncertainties and inherent coupling disturbances in vehicle system [4,6,10,11].…”

Section: Introductionmentioning

confidence: 99%

Pitch Channel Control of a REMUS AUV with Input Saturation and Coupling Disturbances

et al. 2018

Applied Sciences

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“…Equivalent controller ensures system state trajectories move to sliding surface and sliding controller is designed to keep the state trajectories on that surface for all future time. Previously SMC and ASMC were proposed for nonlinear systems but the approaches were applied only to simple nonlinear systems [10,11] or the upper bounds were assumed to be known [12].…”

Section: Introductionmentioning

confidence: 99%

Design of Adaptive SMC for EOD Robotics Manipulator Arm

Ahmad¹,

Malik²,

Hussain³

et al. 2018

International Conference of Control, Dynamic Systems, and Robotics

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-This paper addresses the use of robust control technique ASMC for nonlinear multiple input multiple output RRRP manipulator arm precisely to be used for EOD robots in the presence of parametric uncertainties and external disturbances. In the proposed scheme for control law, model parameters are assumed unknown and are estimated via adaptive laws. Stability of the proposed controller is proved via Lyapunov theory and tracking of the desired path is guaranteed. Advantage of ASMC over other techniques is, the availability of a priori information about the upper bounds of the uncertainties are not required. Extensive simulations are carried out to show the effectiveness of the proposed controller compared to standard SMC.

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“…Additionally, as an efficient observation and identification technique, a high‐order sliding mode observer is applied to deal with the output tracking problem of a MIMO system subjected to a class of actuator faults and unmatched perturbations and the FTC allocation problem . Beyond that, Xiao and Hu have also done a great quantity of work in the FTC theory , especially in the aspect of spacecraft . In , some fault‐tolerant attitude tracking control schemes were developed for spacecraft with partial loss of actuator effectiveness fault.…”

Section: Introductionmentioning

confidence: 99%

Adaptive disturbance observer‐based finite‐time continuous fault‐tolerant control for reentry RLV

Dong

Zong

Tian

et al. 2017

Intl J Robust & Nonlinear

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Summary The control effectors of reusable launch vehicle (RLV) can produce significant perturbations and faults in reentry phase. Such a challenge imposes tight requirements to enhance the robustness of vehicle autopilot. Focusing on this problem, a novel finite‐time fault‐tolerant control strategy is proposed for reentry RLV in this paper. The key of this strategy is to design an adaptive‐gain multivariable finite‐time disturbance observer (FDO) to estimate the synthetical perturbation with unknown bounds, which is composed of model uncertainty, external disturbance, and actuator fault considered as the partial loss of actuator effectiveness in this work. Then, combined with the finite‐time high‐order observer and differentiator, a continuous homogeneous second‐order sliding mode controller based on the terminal sliding mode and super‐twisting algorithm is designed to achieve a fast and accurate RLV attitude tracking with chattering attenuation. The main features of the integrated control strategy are that the adaptation algorithm of FDO can achieve non‐overestimating values of the observer gains and the second‐order super‐twisting sliding mode approach can obtain a more elegant solution in finite time. Finally, simulation results of classical RLV (X‐33) are provided to verify the effectiveness and robustness of the proposed fault‐tolerant controller in tracking the guidance commands. Copyright © 2017 John Wiley & Sons, Ltd.

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Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics

Cited by 237 publications

References 44 publications

Pitch Channel Control of a REMUS AUV with Input Saturation and Coupling Disturbances

Pitch Channel Control of a REMUS AUV with Input Saturation and Coupling Disturbances

Design of Adaptive SMC for EOD Robotics Manipulator Arm

Adaptive disturbance observer‐based finite‐time continuous fault‐tolerant control for reentry RLV

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