An observer-based output tracking controller for electrically driven cooperative multiple manipulators with adaptive Bernstein-type approximator

Robotica ◽  
2021 ◽  
pp. 1-25
Author(s):  
Alireza Izadbakhsh
Keyword(s):  
Control Method ◽  
Mathematical Tool ◽  
Bernstein Type ◽  
Control Approach ◽  
Output Tracking ◽  
Polynomial Coefficients ◽  
Output Tracking Control ◽  
Adaptive Laws ◽  
The Stability ◽  
Multiple Manipulators

Abstract Thisarticle presents an observer-based output tracking control method for electrically actuated cooperative multiple manipulators using Bernstein-type operators as a universal approximator. This efficient mathematical tool represents lumped uncertainty, including external perturbations and unmodeled dynamics. Then, adaptive laws are derived through the stability analysis to tune the polynomial coefficients. It is confirmed that all the position and force tracking errors are uniformly ultimately bounded using the Lyapunov stability theorem. The theoretical achievements are validated by applying the proposed observer-based controller to a cooperative robotic system comprised of two manipulators transporting a rigid object. The outcomes of the introduced method are also compared to RBFNN, which is a powerful state-of-the-art approximator. The results demonstrate the efficacy of the introduced adaptive control approach in controlling the system even in the presence of disturbances and uncertainties.

Theory and Experiments on the Compliance Control of Redundant Robot Manipulators

1990 ◽  
Vol 112 (4) ◽  
pp. 653-660 ◽  
Author(s):  
H. Kazerooni ◽  
K. G. Bouklas ◽  
J. Guo
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Redundant Robot ◽  
Control Approach ◽  
Six Degrees Of Freedom ◽  
The Stability ◽  
Control Methodology ◽  
Theory And Experiments

This work presents a control methodology for compliant motion in redundant robot manipulators. This control approach takes advantage of the redundancy in the robot’s degrees of freedom: while a maximum six degrees of freedom of the robot control the robot’s endpoint position, the remaining degrees of freedom impose an appropriate force on the environment. To verify the applicability of this control method, an active end-effector is mounted on an industrial robot to generate redundancy in the degrees of freedom. A set of experiments are described to demonstrate the use of this control method in constrained maneuvers. The stability of the robot and the environment is analyzed.

Task-space asymptotic tracking control of robots using a direct adaptive Taylor series controller

2018 ◽  
Vol 24 (23) ◽  
pp. 5570-5584 ◽  
Author(s):  
Seyed Mohammad Ahmadi ◽  
Mohammad Mehdi Fateh
Keyword(s):  
Taylor Series ◽  
Control Method ◽  
Tracking Error ◽  
Time Derivative ◽  
Approximation Error ◽  
Task Space ◽  
Control Approach ◽  
Control Scheme ◽  
Asymptotic Tracking ◽  
The Stability

This paper presents a robust task-space control approach using a direct adaptive Taylor series controller for electrically driven robot manipulators. In an adaptive Taylor series control scheme, the parameters of controller are directly tuned in order to reduce the task-space tracking error in the presence of structured and unstructured uncertainty. Also, the upper bound of approximation error is estimated to form a robustifying term and the asymptotic convergence of task-space tracking error and its time derivative is proven based on the stability analysis. Simulation results are included to verify the effectiveness of the proposed control method.

Multi-dimensional Taylor network-based adaptive control for nonlinear systems with unknown parameters

2020 ◽  
pp. 014233122095335
Author(s):  
Lei Chu ◽  
Yuqun Han ◽  
Shanliang Zhu ◽  
Mingxin Wang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Control Method ◽  
Controller Design ◽  
Tracking Error ◽  
Unknown Parameters ◽  
Nonlinear Characteristics ◽  
Control Approach ◽  
Closed Loop Systems ◽  
Adaptive Laws

This paper presents an adaptive multi-dimensional Taylor network (MTN) control approach for a class of nonlinear systems with unknown parameters. MTN is employed to identify unknown nonlinear characteristics existing in the system, and then a novel adaptive MTN tracking control method is proposed, via backstepping technique. In the controller design, double adaptive laws are designed and appropriate Lyapunov functions are chosen to overcome the difficulties caused by the unknown parameters. The designed controller can guarantee that all the variables in the closed-loop systems are bounded and the tracking error can be arbitrarily small. Finally, simulation results are presented to verify the effectiveness of the proposed approach.

Position and Attitude Control of Remote Ultrasonic Scanner Based on Sliding Mode Approach

2010 ◽  
Vol 139-141 ◽  
pp. 1910-1914
Author(s):  
Han Bing Yan ◽  
Hui Ju
Keyword(s):  
Control System ◽  
Time Delay ◽  
Attitude Control ◽  
Ultrasonic Testing ◽  
Control Method ◽  
Sliding Mode ◽  
Control Function ◽  
Control Approach ◽  
The Stability ◽  
Ultrasonic Scanner

For the purpose of inspecting workpieces or equipments under severe environment, remote ultrasonic testing is of great significance to realize online inspection for processing products or vital equipments. The key problem to apply the remote ultrasonic testing is to keep the stability of the control system for the scanner. Therefore, how to eliminate the uncertain effect of time delay to keep the stability of the control system is the main difficulty in the online ultrasonic testing process. This paper proposed a slide mode approach to realize the position and attitude control for remote ultrasonic scanner. The implement of sliding mode controller with uncertain time delay, the solution of sliding surface and control function are studied. With the dynamic model of the scanner, the controller system is established according to the analysis of the control approach. The simulating results of the system proved the proposed sliding mode control method satisfies the requirements of stability for the remote control system.

Robust Output Tracking Control for a Class of Uncertain Switched Nonlinear Systems

2013 ◽  
Vol 135 (3) ◽  
Author(s):  
Xiao X. Dong ◽  
Jun Zhao
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Control Method ◽  
Design Method ◽  
Average Dwell Time ◽  
Variable Structure ◽  
Linear Matrix ◽  
Switched Nonlinear Systems ◽  
Output Tracking ◽  
Output Tracking Control

This paper is devoted to the problem of robust output tracking control for uncertain cascade switched nonlinear systems with external disturbances. A sufficient condition for the output tracking problem of switched systems to be solvable is given in terms of the average dwell-time scheme and linear matrix inequalities where no solvability of the output tracking control problem for all subsystems is assumed. The controllers are designed based on a variable structure control method in order to conquer the uncertainties. Simulations illustrate the effectiveness of the proposed robust tracking design method.

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