scholarly journals Trajectory Tracking Control of UR5 Robot Manipulator Using Fuzzy Gain Scheduling Terminal Sliding Mode Controller

2020 ◽  
Vol 4 (1) ◽  
pp. 113-135
Author(s):  
Andualem Welabo ◽  
Gebremichael Tesfamariamr
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Gain Scheduling ◽  
Sliding Mode Controller ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode

scholarly journals Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

2019 ◽  
Vol 9 (13) ◽  
pp. 2625 ◽  
Author(s):  
Mengmeng Li ◽  
Qinglin Wang ◽  
Yuan Li ◽  
Zhaoguo Jiang
Keyword(s):  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Hammerstein Model ◽  
Sliding Mode Controller ◽  
Driving Voltage ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Rate Dependent

Dielectric electro-active polymer (DEAP) materials, also called artificial muscle, are a kind of EAP smart materials with extraordinary strains up to 30% at a high driving voltage. However, the asymmetric rate-dependent hysteresis is a barrier for trajectory tracking control of DEAP actuators. To overcome the barrier, in this paper, a Hammerstein model is established for the asymmetric rate-dependent hysteresis of a DEAP actuator first, in which a modified Prandtl-Ishlinskii (MPI) model is used to represent the static hysteresis nonlinear part, and an autoregressive with exogenous inputs (ARX) model is used to represent the linear dynamic part. Applying Levenberg-Marquardt (LM) algorithm identifies the parameters of the Hammerstein model. Then, based on the MPI model, an inverse hysteresis compensator is obtained to compensate the hysteresis behavior. Finally, a compound controller consisting of the hysteresis compensator and a novel discrete-time terminal sliding mode controller (DTSMC) without state observer is proposed to achieve the high-precision trajectory tracking control. Stability analysis of the closed-loop system is verified by using Lyapunov stability theorem. Experimental results based on a DEAP actuator show that the proposed controller has better tracking control performance compared with a conventional discrete-time sliding mode controller (DSMC).

Adaptive Sliding Mode Disturbance Observer Based Composite Trajectory Tracking Control for Robot Manipulator With Prescribed Performance

2021 ◽  
Author(s):  
Danni Shi ◽  
Jinhui Zhang ◽  
Zhongqi Sun ◽  
Yuanqing Xia
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Prescribed Performance ◽  
Adaptive Sliding Mode ◽  
Sliding Mode Disturbance Observer

Abstract In this paper, the problem of the composite trajectory tracking control for robot manipulator with lumped uncertainties including unmodeled dynamics and external disturbances is investigated. To achieve the active disturbance rejection, the adaptive sliding mode disturbance observer is proposed to estimate the unknown lumped uncertainties in the absence of the prior upper bound information on the lumped uncertainties. Then, by combining the non-singular terminal sliding mode control and prescribed performance control approaches, the composite trajectory tracking controller is designed, and not only the finite-time convergence of the trajectory tracking errors, but also the prescribed performances are guaranteed. Finally, by applying the proposed control scheme to a two-DOF manipulator system, the effectiveness and advantages are verified by numerical simulations.

Trajectory tracking control based on Lyapunov method and terminal sliding mode

2013 ◽  
Vol 32 (11) ◽  
pp. 3243-3246 ◽  
Author(s):  
Yang-ming ZHANG ◽  
Guo-rong LIU ◽  
Dong-bo LIU ◽  
Huan LIU
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Lyapunov Method ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode
Sign in / Sign up

Export Citation Format

Share Document