Active disturbance rejection motion control of spherical robot with parameter tuning

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Manlu Liu ◽  
Rui Lin ◽  
Maotao Yang ◽  
Anaid V. Nazarova ◽  
Jianwen Huo
Keyword(s):  
Motion Control ◽  
Disturbance Rejection ◽  
Parameter Tuning ◽  
Pso Algorithm ◽  
State Equation ◽  
Expected Value ◽  
Spherical Robot ◽  
Motion Controller ◽  
Actual Case ◽  
Content Type

Purpose The characteristics of spherical robots, such as under-drive, non-holonomic constraints and strong coupling, make it difficult to establish its motion control model accurately. To improve the anti-interference performance of spherical robots in practical engineering, this paper proposes a spherical robot motion controller based on auto-disturbance rejection control (ADRC) with parameter tuning. Design/methodology/approach This paper considers the influences of the spherical shell, internal frame and pendulum on the movement of the spherical robot during the rotation to establish the multi-body dynamics model of the XK-I spherical robot. Due to the serious coupling problem of the dynamic model, the motion control state equation is constructed using linearization and decoupling. The XK-I spherical robot PSO-ADRC motion controller with parameter tuning function is designed by combining the state equation with the particle swarm optimization (PSO) algorithm. Finally, experiments are performed to evaluate the feasibility of PSO-ADRC in an actual case compared to ADRC, PSO-PID and PID. Findings By analyzing the required time to reach the expected value, the control stability and the fluctuation range of the standard deviation after reaching the expected value, the superiority of PSO-ADRC to ADRC, PSO-PID and PID is demonstrated in terms of the speed and anti-interference ability. Practical implications The proposed method can be applied to the robot control field. Originality/value A parameter-tuning method for auto-disturbance-rejection motion control of the spherical robot is proposed. According to the experimental results, the anti-interference ability of the spherical robot moving on uneven ground is improved. Therefore, it provides a foundation for the autonomous environmental monitoring of the spherical robot equipped with sensors.

scholarly journals Time-Optimal Trajectory Optimization of Serial Robotic Manipulator With Kinematic and Dynamic Limits Based On Improved Particle Swarm Optimization

2021 ◽  
Author(s):  
Yu Yang ◽  
Hongze Xu ◽  
Shaohua Li ◽  
Lingling Zhang ◽  
Xiuming Yao
Keyword(s):  
Particle Swarm Optimization ◽  
Motion Control ◽  
Trajectory Optimization ◽  
Optimal Trajectory ◽  
Movement Time ◽  
Pso Algorithm ◽  
Motion Controller ◽  
Swarm Optimization ◽  
Improved Particle Swarm Optimization ◽  
Time Optimal

Abstract Effective motion control can achieve accurate and fast positioning and movement of industrial robotics and improve industrial productivity significantly. Time-optimal trajectory optimization (TO) is a great concern in the motion control of robotics and can improve motion efficiency by providing high-speed and reasonable motion references to the motion controller. In this study, a new time-optimal TO strategy, polynomial interpolation function (PIF) combined with improved particle swarm optimization (PSO) considering kinematic and dynamic limits, successfully optimizes the movement time of the PUMA 560 serial manipulator along a randomly assigned path. The 4-3-4 PIF is first used to generate the smooth and 3-order continuous movement trajectories of six joints in joint space. The PSO with cosine decreasing weight (CDW-PSO) algorithm further reduces the trajectories movement time considering the limits of the angular displacement, angular velocity, angular acceleration, angular jerk, and joint torque. Experimental results show that the CDW-PSO algorithm achieves a better convergence rate of 23 and a better fitness value of 2.46 compared with the PSO with constant weight and linearly decreasing weight algorithms. The CDW-PSO optimized movement time is reduced by 83.6% compared to the manually setting movement time value of 15. The proposed time-optimal TO strategy can be conducted easily and directly search for global optimal solutions without approximation of the limits. The optimized trajectories could be incorporated in the motion controller of the actual manipulators due to considering the kinematic and dynamic limits.

Development and motion control of spatial serial robotic manipulator under varying disturbances

2019 ◽  
Vol 16 (4) ◽  
pp. 460-467
Author(s):  
Alex Barre Epenetus ◽  
Meera CS ◽  
Santhakumar Mohan ◽  
Mukul Kumar Gupta
Keyword(s):  
Motion Control ◽  
Tracking Error ◽  
Robotic Manipulator ◽  
Superior Performance ◽  
Control Technique ◽  
Motion Controller ◽  
Content Type ◽  
Joint Friction ◽  
Dynamics Response ◽  
Torque Observer

Purpose Key challenges in evaluating the performance of a robotic manipulator are disturbances that rise internally and externally. Effects of non-linear disturbances like varying payload and joint friction can adversely affect the tracking performance in a robotic manipulator. This paper aims to discuss motion control of a three-link spatial manipulator using a computed torque observer-based control technique. Design/methodology/approach The overall motion control problem consists of derivation of kinematic and dynamic model of the manipulator followed by the control design to achieve desired manipulator response. In this study, the manipulator is subjected to uncertain varying load disturbances. The proposed motion controller compensates the effect of the disturbances and guarantees the convergence of tracking error to steady state value. Findings One major advantage of using observer-based control is positioning accuracy with robustness to parameter uncertainty and fast dynamics response. The performance of the proposed control technique is validated through real-time experiments conducted on the manipulator. The experiment results confirm the superior performance of the control system in achieving perfect tracking. Originality/value This paper demonstrates an observer-based control technique over a serial spatial manipulator which can be applied different robotic configurations under the effect of varying disturbances.

Disturbance Observer in Robust DC Motor Control

2014 ◽  
Vol 614 ◽  
pp. 219-223
Author(s):  
Hong Cheng Huang ◽  
Yi Zhang ◽  
Heng Deng
Keyword(s):  
Motion Control ◽  
Disturbance Rejection ◽  
Disturbance Observer ◽  
Control Structure ◽  
Specific Method ◽  
Motion Controller ◽  
External Disturbances ◽  
Dc Motor Control ◽  
Proportional Derivative Controller ◽  
Two Degree Of Freedom

The disturbance observer is a specific method of designing a two degree of freedom control structure to achieve insensitivity to modeling error and disturbance rejection. It has been successfully applied in a variety of motion control applications. In motion control, the major sources of uncertainties are friction, inertia, and external disturbances. These uncertainties should be taken into account by any robust motion controller. In this paper, this element is a PD (proportional-derivative) controller. The disturbance observer proves its advantages through the simulation and experiments. With disturbance observer, better tracking performance can be achieved with less control energy.

scholarly journals Position-based motion control for parallel manipulators under parametric uncertainties and with finite-time external disturbance rejection

2020 ◽  
Vol 53 (2) ◽  
pp. 8456-8461
Author(s):  
Dmitrii Dobriborsci ◽  
Sergey Kolyubin ◽  
Natalia Gorokhova ◽  
Marina Korotina ◽  
Alexey Bobtsov
Keyword(s):  
Motion Control ◽  
Finite Time ◽  
Disturbance Rejection ◽  
External Disturbance ◽  
Parallel Manipulators ◽  
Parametric Uncertainties

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

Output tracking and feedback stabilization for 6-DoF UAV using an enhanced active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Aws Abdulsalam Najm ◽  
Ibraheem Kasim Ibraheem ◽  
Amjad J. Humaidi ◽  
Ahmad Taher Azar
Keyword(s):  
Disturbance Rejection ◽  
Feedback Stabilization ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Exogenous Disturbances ◽  
System Uncertainties ◽  
Quadrotor System

PurposeThe hybrid control system of the nonlinear PID (NLPID) controller and improved active disturbance rejection control (IADRC) are proposed for stabilization purposes for a 6-degree freedom (DoF) quadrotor system with the existence of exogenous disturbances and system uncertainties.Design/methodology/approachIADRC units are designed for the altitude and attitude systems, while NLPID controllers are designed for the x−y position system on the quadrotor nonlinear model. The proposed controlling scheme is implemented using MATLAB/Simulink environment and is compared with the traditional PID controller and NLPID controller.FindingsDifferent tests have been done, such as step reference tracking, hovering mode, trajectory tracking, exogenous disturbances and system uncertainties. The simulation results showed the demonstrated performance and stability gained by using the proposed scheme as compared with the other two controllers, even when the system was exposed to different disturbances and uncertainties.Originality/valueThe study proposes an NLPID-IADRC scheme to stabilize the motion of the quadrotor system while tracking a specified trajectory in the presence of exogenous disturbances and parameter uncertainties. The proposed multi-objective Output Performance Index (OPI) was used to obtain the optimum integrated time of the absolute error for each subsystem, UAV quadrotor system energy consumption and for minimizing the chattering phenomenon by adding the integrated time absolute of the control signals.

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Syed Awais Ali Shah
Keyword(s):  
Output Feedback ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
The State ◽  
Active Disturbance Rejection Control ◽  
State Variables ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Model

PurposeIn this research paper, an adaptive output-feedback robust active disturbance rejection control (RADRC) is designed for the multiple input multiple output (MIMO) quadrotor attitude model subject to unwanted uncertainties and disturbances (UUDs).Design/methodology/approachIn order to achieve the desired control objectives in the presence of UUDs, the low pass filter (LPF) and extended high gain observer (EHGO) methods are used for the estimation of matched and mismatched UUDs, respectively. Furthermore, for solving the chattering incurred in the standard sliding mode control (SMC), a multilayer sliding mode surface is constructed. For formulating the adaptive output-feedback RADRC algorithm, the EHGO, LPF and SMC schemes are combined using the separation principle.FindingsThe findings of this research work include the design of an adaptive output-feedback RADRC with the ability to negate the UUDs as well as estimate the unknown states of the quadrotor attitude model. In addition, the chattering problem is addressed by designing a modified SMC scheme based on the multilayer sliding mode surface obtained by utilizing the estimated state variables. This sliding mode surface is also used to obtain the adaptive criteria for the switching design gain parameters involved in the SMC. Moreover, the requirement of high design gain parameters in the EHGO is solved by combining it with the LPF.Originality/valueDesigning the flight control techniques while assuming that the state variables are available is a common practice. In addition, to obtain robustness, the SMC technique is widely used. However, in practice, the state variables might not be available due to unknown parameters and uncertainties, as well as the chattering due to SMC reduces the performances of the actuators. Hence, in this paper, an adaptive output-feedback RADRC technique is designed to solve the problems of UUDs and chattering.

PSO and GA tuned conventional and fractional order PID controllers for quadrotor control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Hasan Saribas ◽  
Sinem Kahvecioglu
Keyword(s):  
Fractional Order ◽  
Pid Controller ◽  
Controller Design ◽  
Optimization Problems ◽  
Parameter Tuning ◽  
Absolute Error ◽  
Cost Functions ◽  
Pid Controllers ◽  
Content Type ◽  
Quadrotor Control

Purpose This study aims to compare the performance of the conventional and fractional order proportional-integral-derivative (PID and FOPID) controllers tuned with a particle swarm optimization (PSO) and genetic algorithm (GA) for quadrotor control. Design/methodology/approach In this study, the gains of the controllers were tuned using PSO and GA, which are included in the heuristic optimization methods. The tuning processes of the controller’s gains were formulated as optimization problems. While generating the objective functions (cost functions), four different decision criteria were considered separately: integrated summation error (ISE), integrated absolute error, integrated time absolute error and integrated time summation error (ITSE). Findings According to the simulation results and comparison tables that were created, FOPID controllers tuned with PSO performed better performances than PID controllers. In addition, the ITSE criterion returned better results in control of all axes except for altitude control when compared to the other cost functions. In the control of altitude with the PID controller, the ISE criterion showed better performance. Originality/value While a conventional PID controller has three parameters (Kp, Ki, Kd) that need to be tuned, FOPID controllers have two additional parameters (µ). The inclusion of these two extra parameters means more flexibility in the controller design but much more complexity for parameter tuning. This study reveals the potential and effectiveness of PSO and GA in tuning the controller despite the increased number of parameters and complexity.

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