On Operational Space Tracking Control of Robotic Manipulators With Uncertain Dynamic and Kinematic Terms

2018 ◽  
Vol 141 (1) ◽  
Author(s):  
Kamil Cetin ◽  
Enver Tatlicioglu ◽  
Erkan Zergeroglu
Keyword(s):  
Tracking Control ◽  
Joint Space ◽  
Robot Dynamics ◽  
Robust Controller ◽  
Operational Space ◽  
Asymptotic Tracking ◽  
Robust Adaptive ◽  
And Performance ◽  
The Stability ◽  
Velocity Level

In this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth robust controller is applied to compensate the parametric uncertainties related to the robot dynamics while an adaptive update algorithm is used to deal with the kinematic uncertainties. Rather than formulating the tracking problem in the joint space, as most of the previous works on the field have done, the controller formulation is presented in the operational space of the robot where the actual task is performed. Additionally, the robust part of the proposed controller is continuous ensuring the asymptotic tracking and relatively smooth controller effort. The stability of the overall system and boundedness of the closed loop signals are ensured via Lyapunov based arguments. Experimental results are presented to illustrate the feasibility and performance of the proposed method.

An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach

2019 ◽  
Vol 141 (5) ◽  
Author(s):  
Kamil Cetin ◽  
Enver Tatlicioglu ◽  
Erkan Zergeroglu
Keyword(s):  
Stability Analysis ◽  
Tracking Control ◽  
Robot Manipulators ◽  
Robot Dynamics ◽  
Simulation Studies ◽  
Matrix Formulation ◽  
Redundant Robot ◽  
Control Approach ◽  
Operational Space ◽  
The Stability

In this study, an extended Jacobian matrix formulation is proposed for the operational space tracking control of kinematically redundant robot manipulators with multiple subtask objectives. Furthermore, to compensate the structured uncertainties related to the robot dynamics, an adaptive operational space controller is designed, and then, the corresponding stability analysis is presented for kinematically redundant robot manipulators. Specifically, the proposed method is concerned with not only the stability of operational space objective but also the stability of multiple subtask objectives. The combined stability analysis of the operational space objective and the subtask objectives are obtained via Lyapunov based arguments. Experimental and simulation studies are presented to illustrate the performance of the proposed method.

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

scholarly journals A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control—Application to Robotic Manipulators

Inventions ◽  
2019 ◽  
Vol 4 (3) ◽  
pp. 49
Author(s):  
Bin Wei
Keyword(s):  
Adaptive Control ◽  
Robust Control ◽  
Robotic Manipulators ◽  
Joint Space ◽  
Robust Adaptive Control ◽  
Control Techniques ◽  
Operational Space ◽  
Advanced Control ◽  
Robust Adaptive ◽  
Control Application

A tutorial on robust control, adaptive control, robust adaptive control and adaptive control of robotic manipulators is presented in a systematic manner. Some limitations of the above methods are also illustrated. The relationships between the robust control, adaptive control and robust adaptive control are demonstrated. Basic information on the joint space control, operational space control and force control is also given. This tutorial summarizes the most advanced control techniques currently in use in a very simple manner, and applies to robotic manipulators, which can provide an informative guideline for students who have little knowledge of controls or who want to understand the adaptive control of robotics in a systematic way.

scholarly journals Robust Adaptive Self-Organizing Wavelet Fuzzy CMAC Tracking Control for De-icing Robot Manipulator

2015 ◽  
Vol 10 (4) ◽  
pp. 567 ◽  
Author(s):  
ThanhQuyen Ngo ◽  
TaVan Phuong
Keyword(s):  
Robot Manipulator ◽  
Learning Ability ◽  
Cerebellar Model Articulation Controller ◽  
Robust Controller ◽  
Fast Learning ◽  
Self Organized ◽  
Fuzzy Cmac ◽  
Robust Adaptive ◽  
The Stability ◽  
Self Organizing

In this paper, a robust adaptive self-organizing control system based on a novel wavelet fuzzy cerebellar model articulation controller (WFCMAC) is developed for an n-link robot manipulator to achieve the high-precision position tracking. This proposed controller consists of two parts: one is the WFCMAC approach which is implemented to cope with nonlinearities, due to the novel WFCMAC not only incorporates the wavelet decomposition property with fuzzy CMAC fast learning ability but also it will be self-organized; that is, the layers of WFCMAC will grow or prune systematically. Therefore, dimension of WFCMAC can be simplified. The second is the order which is the adaptive robust controller which is designed to achieve robust tracking performance of the system. The adaptive tuning laws of WFCMAC parameters and error estimation of adaptive robust controller are derived through the Lyapunov function so that the stability of the system can be guaranteed. Finally, the simulation and experimental results of novel three-link deicing robot manipulator are applied to verify the effectiveness of the proposed control methodology.

Tracking Control of Robot Manipulator Using Sliding Mode Controller With Performance Robustness

1999 ◽  
Vol 121 (1) ◽  
pp. 64-70 ◽  
Author(s):  
Chieh-Li Chen ◽  
Rui-Lin Xu
Keyword(s):  
Tracking Control ◽  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Design Procedure ◽  
Sliding Mode Controller ◽  
Systematic Design ◽  
And Performance ◽  
The Stability

The tracking control problem of robot manipulator is considered in this paper. A sliding mode controller design with global invariance is proposed using the concept of extended system and feedback linearization. The sliding surface is assigned such that the sliding mode motion will occur while the proposed control law is applied. This results in a system with global invariance. The stability and performance of the resulting system can be guaranteed by the proposed systematic design procedure.

Robust Controller Design to Achieve Active Damping for a MEMS Microphone

2008 ◽  
Author(s):  
Jinli Qu ◽  
Ronald N. Miles ◽  
N. Eva Wu
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Active Damping ◽  
Closed Loop System ◽  
Robust Controller ◽  
Nonlinear Simulation ◽  
Mems Microphone ◽  
And Performance ◽  
The Stability ◽  
Robust Controller Design

This paper presented an H∞-controller design to achieve active damping for a MEMS microphone system. The parametric uncertainties introduced by linearization process were modeled. The stability and performance of the closed-loop system were analyzed for the uncertain microphone model and both were shown to be robust. The nonlinear simulation further verifies that the controller offers the desired performance.

scholarly journals Dedicated Nonlinear Control of Robot Manipulators in the Presence of External Vibration and Uncertain Payload

Robotics ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 2
Author(s):  
Mustafa M. Mustafa ◽  
Ibrahim Hamarash ◽  
Carl D. Crane
Keyword(s):  
Tracking Control ◽  
Robot Manipulators ◽  
Control Design ◽  
Joint Space ◽  
Accuracy Control ◽  
Control Effort ◽  
Boundedness Property ◽  
External Vibration ◽  
The Stability ◽  
The Cost

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This paper presents two approaches to solve this problem. The approaches consider joint space tracking control design in the presence of nonlinear uncertain torques caused by external vibration and payload variation. The properties of the uncertain torques are used in both approaches. The first approach is based on the boundedness property, while the second approach considers the differentiability and boundedness together. The controllers derived from each approach differ from the perspectives of accuracy, control effort, and disturbance properties. A Lyapunov-based analysis is utilized to guarantee the stability of the control design in each case. Simulation results validate the approaches and demonstrate the performance of the controllers. The derived controllers show stable results at the cost of the mentioned properties.

scholarly journals Robust Adaptive Neural Sliding Mode Approach for Tracking Control of a MEMS Triaxial Gyroscope

10.5772/50915 ◽  
2012 ◽  
Vol 9 (1) ◽  
pp. 20 ◽  
Author(s):  
Juntao Fei ◽  
Hongfei Ding ◽  
Shixi Hou ◽  
Shitao Wang ◽  
Mingyuan Xin
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Tracking Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Tracking Control ◽  
Mode Control ◽  
The Neural Network ◽  
Robust Adaptive ◽  
The Stability

In this paper, a neural network adaptive sliding mode control is proposed for an MEMS triaxial gyroscope with unknown system nonlinearities. An input-output linearization technique is incorporated into the neural adaptive tracking control to cancel the nonlinearities, and the neural network whose parameters are updated from the Lyapunov approach is used to perform the linearization control law. The sliding mode control is utilized to compensate the neural network's approximation errors. The stability of the closed-loop system can be guaranteed with the proposed adaptive neural sliding mode control. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive neural sliding mode control scheme.

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