Trajectory Tracking of a Single Flexible-link Robot Using a Modal Cascaded-Type Control

In this article, we consider the trajectory tracking and vibration suppression of a flexible-link flexible-joint manipulator under uncertainties and external time-varying unknown disturbances. The coupled ordinary differential equation and partial differential equation model dynamic of the system is presented by employing the Hamilton principle. Using the singular perturbation theory, the dynamic is decomposed into a no-underactuated slow ordinary differential equation and fast partial differential equation subsystem, which solves the problem of the underactuated ordinary differential equation subsystem of the ordinary differential equation and partial differential equation cascade and reduces the analytical complexity. For the slow subsystem, to guarantee the trajectory tracking of the joint, an adaptive global sliding mode controller without gain overestimation is designed, which can guarantee the global stability of the slow system and reduce the chattering of the sliding mode control. For the fast subsystem, an adaptive boundary controller is developed to suppress the elastic vibration of the flexible link during the trajectory tracking. The stability of the whole closed-loop system is rigorously proved via the Lyapunov analysis method. Simulation results show the effectiveness of the proposed controller.

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Trajectory Tracking for the End-effector of a Class of Flexible Link Manipulators

Journal of Vibration and Control ◽

10.1177/1077546309350554 ◽

2010 ◽

Vol 17 (1) ◽

pp. 55-68 ◽

Cited By ~ 9

Author(s):

M. Vakil ◽

R. Fotouhi ◽

P.N. Nikiforuk

Keyword(s):

Trajectory Tracking ◽

Flexible Link ◽

End Effector

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Trajectory tracking of spatial flexible link manipulators using inverse kinematics solution and vibration suppression

1997 8th International Conference on Advanced Robotics Proceedings ICAR 97 ICAR-97 ◽

10.1109/icar.1997.620186 ◽

2002 ◽

Cited By ~ 1

Author(s):

A.A. Loukianov ◽

Y.Q. Dai ◽

M. Uchiyama

Keyword(s):

Trajectory Tracking ◽

Inverse Kinematics ◽

Vibration Suppression ◽

Flexible Link

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Robust fuzzy sliding mode control and vibration suppression of free-floating flexible-link and flexible-joints space manipulator with external interference and uncertain parameter

Robotica ◽

10.1017/s0263574721000977 ◽

2021 ◽

pp. 1-23

Author(s):

Limin Xie ◽

Xiaoyan Yu ◽

Li Chen

Keyword(s):

Sliding Mode Control ◽

Trajectory Tracking ◽

Sliding Mode ◽

Momentum Conservation ◽

Flexible Link ◽

Flexible Joints ◽

External Interference ◽

Space Manipulator ◽

Fuzzy Sliding Mode Control ◽

Fuzzy Sliding Mode

Abstract The flexibility of the free-floating flexible space manipulator system’s link and joint may affect the control accuracy and cause vibrations. We studied the dynamics modeling, joint trajectory tracking control, and vibration suppressing problem of free-floating flexible-link and flexible-joints space manipulator system with external interference and uncertain parameter. The system’s dynamic equations are established using linear momentum conservation, angular momentum conservation, assumed mode method, and Lagrange equation. Then, the system’s singular perturbation model is established, and a hybrid control is presented. For the slow subsystem, a robust fuzzy sliding mode control is proposed to realize the joint desired trajectory tracking. For the fast subsystem, a speed difference feedback control and a linear-quadratic optimal control are designed to suppress the vibration caused by the flexible joints and the flexible link separately. The simulation comparison experiments under different conditions are taken. The simulate results demonstrate the proposed hybrid control’s validity.

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