Fixed-Time Inverse Dynamics Control for Robot Manipulators

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Yuxin Su ◽  
Chunhong Zheng
Keyword(s):  
Inverse Dynamics ◽  
Robot Manipulators ◽  
A Priori ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Convergence Time ◽  
Tracking Errors ◽  
Inverse Dynamics Control ◽  
Improved Performance ◽  
Uniformly Bounded

This paper concerns with global fixed-time trajectory tracking of robot manipulators. A simple nonlinear inverse dynamics control (IDC) is proposed by using bi-limit homogeneity technique. Lyapunov stability theory and geometric bi-limit homogeneity technique are employed to prove global fixed-time tracking stability. It is proved that there exists a convergence time that is uniformly bounded a priori and such a bound is independent of the initial states such that the tracking errors converge to zero globally. The appealing advantages of the proposed control are that it is fairly easy to construct and has the global fixed-time tracking stability featuring faster transient and higher steady-state precision. Numerical simulation comparisons are provided to demonstrate the improved performance of the proposed approach.

Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

2021 ◽  
pp. 014233122098363
Author(s):  
Heli Gao ◽  
Mou Chen
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Inverse Dynamics ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Extended State

This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC.

scholarly journals Adaptive Fast Nonsingular Fixed-Time Tracking Control for Robot Manipulators

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Huihui Pan ◽  
Guangming Zhang
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Fixed Time ◽  
Convergence Time ◽  
Trajectory Tracking Control ◽  
Uncertain Dynamics ◽  
Adaptive Technique

This paper studies the fixed-time trajectory tracking control problem of robot manipulators in the presence of uncertain dynamics and external disturbances. First, a novel nonsingular fixed-time sliding mode surface is presented, which can ensure that the convergence time of the suggested surface is bounded regardless of the initial states. Subsequently, a novel fast nonsingular fixed-time sliding mode control (NFNFSMC) is developed so that the closed-loop system is fixed-time convergent to the equilibrium. By applying the proposed NFNFSMC method and the adaptive technique, a novel adaptive nonsingular fixed-time control scheme is proposed, which can guarantee fast fixed-time convergence of the tracking errors to small regions around the origin. With the proposed control method, the lumped disturbance is compensated by the adaptive technique, whose prior information about the upper bound is not needed. The fixed-time stability of the trajectory tracking control under the proposed controller is proved by the Lyapunov stability theory. Finally, corresponding simulations are given to illustrate the validity and superiority of the proposed control approach.

Global Output Feedback Finite-Time Regulation of Robot Manipulators Under Actuator Constraints

2017 ◽  
Vol 139 (6) ◽  
Author(s):  
Haihong Wang ◽  
Yuxin Su ◽  
Liyin Zhang
Keyword(s):  
Finite Time ◽  
Robot Manipulators ◽  
A Priori ◽  
Lyapunov Stability Theory ◽  
Time Stability ◽  
Bounded Control ◽  
Finite Time Stability ◽  
Expected Performance ◽  
Actuator Constraints ◽  
Joint Velocity

In this paper, the finite-time regulation problem of robot manipulators under saturated actuator inputs with position measurements only is addressed. A simple saturated finite-time proportional-derivative (PD) plus gravity compensation (PD+) controller is presented, in which the joint velocity is estimated by constructing a simple nonlinear filter. Global finite-time stability is shown by using Lyapunov stability theory and geometric homogeneity technique. The benefits of this design are that the proposed control can be easily implemented and ensures global finite-time stability with bounded control by selecting control gains a priori. Simulations and experimental results illustrate the expected performance of the proposed approach.

scholarly journals Fixed-Time Observer Based Prescribed-Time Containment Control of Unmanned Underwater Vehicles with Faults and Uncertainties

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4515 ◽  
Author(s):  
Tingting Yang ◽  
Shuanghe Yu
Keyword(s):  
Control Strategy ◽  
Fixed Time ◽  
Underwater Vehicles ◽  
Convergence Time ◽  
Control Input ◽  
Containment Control ◽  
Unmanned Underwater Vehicles ◽  
Time Control ◽  
Intermediate Variables ◽  
Uniformly Bounded

The problem of prescribed-time containment control of unmanned underwater vehicles (UUVs) with faults and uncertainties is considered. Different from both regular finite-time control and fixed-time control, the proposed prescribed-time control strategy is built upon a novel coordinate transformation function and the block decomposition technique, resulting in the followers being able to move into the convex hull spanned by the leaders in prespecifiable convergence time. Moreover, intermediate variables and the control input terms are also shown to remain uniformly bounded at the prescribed-time. To reduce the magnitude of the bounds, a novel fixed-time observer for the fault is proposed. Two numerical examples are provided to verify the effectiveness of the proposed prescribed-time control strategy.

scholarly journals A Novel Decentralized Fixed-Time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification

2021 ◽  
Author(s):  
Zengpeng Lu ◽  
Yuanchun Li ◽  
Yan Li
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Robot Manipulators ◽  
Fixed Time ◽  
Convergence Time ◽  
Modular Robot ◽  
Total Uncertainty ◽  
Control Approach ◽  
Time Control ◽  
Tracking Ability

Abstract This paper presents a novel decentralized fixed-time tracking control approach, which realizes the advantages of modular robot manipulators (MRMs) with fixed-time convergence, strong robustness, and high tracking performance. First, to estimate the total uncertainty of MRMs, the fixed-time observer based on the extended state is developed. Then, combined with the disturbance observer, a novel decentralized control method based on a fixed-time control strategy was devised to accomplish global fixed-time convergence of MRMs. And, stability analysis based on Lyapunov is utilized to obtain the fixed-time stability as well as convergence time of MRMs. Finally, numerical analysis and experiment respectively verify the excellent tracking ability of the presented decentralized fixed-time tracking control.

Distributed Parallel Algorithms for the Inverse Dynamics Control of Robot Manipulators

1995 ◽  
Vol 28 (5) ◽  
pp. 55-62
Author(s):  
L. Peñalver ◽  
J.C. Fernández ◽  
V. Hernández ◽  
J. Tornero
Keyword(s):  
Parallel Algorithms ◽  
Inverse Dynamics ◽  
Robot Manipulators ◽  
Inverse Dynamics Control

Consensus in networks of uncertain robot manipulators without using neighbors’ velocity information

Robotica ◽  
2021 ◽  
pp. 1-17
Author(s):  
Seyed Mostafa Almodarresi ◽  
Marzieh Kamali ◽  
Farid Sheikholeslam
Keyword(s):  
Information Exchange ◽  
Lyapunov Functions ◽  
Robot Manipulators ◽  
Adaptive Methods ◽  
Convergence Time ◽  
Parameter Search ◽  
Velocity Information ◽  
Simulation Results ◽  
Uncertain Robot ◽  
Asymptotic Synchronization

Abstract In this paper, new distributed adaptive methods are proposed for solving both leaderless and leader–follower consensus problems in networks of uncertain robot manipulators, by estimating only the gravitational torque forces. Comparing with the existing adaptive methods, which require the estimation of the whole dynamics, presented methods reduce the excitation levels required for efficient parameter search, the convergence time, and the complexity of the regressor. Additionally, proposed schemes eliminate the need for velocity information exchange between the agents. Global asymptotic synchronization is shown by introducing new Lyapunov functions. Simulation results are provided for a network of 10 4-DOF robot manipulators.

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