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A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic
relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping
method that has “explosion of terms” problem, the new proposed control system is a combination...
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Citations
... Over the last few decades, the backstepping control system has been widely used in variety applications of robotic control systems [3][4][5][6][7]. The fuzzy logic and neural networks have been proven to be a good candidate of intelligent techniques for enhancing the ability of the recursive backstepping design methodology [8][9][10][11][12][13][14][15]. ...
In this paper, a new application of Slime Mould Algorithm (SMA) for the optimization of backstepping controller parameters for the tracking control and the perturbations rejection of the robot manipulator. The algorithm is compared to other optimization algorithms which are antlion algorithm (ALO), whale optimization algorithm (WOA) and grey wolf algorithm (GWO). The simulation results prove the superiority and the effectiveness of the SMA algorithm to deal with this problem and overcome the other algorithms.
... To solve this problem, a dynamic surface control (DSC) was proposed in Ref. [20], where a first-order low-pass filter was introduced in each step to obtain the derivative of the virtual control law instead of taking the derivative directly. Based on the DSC technique, several adaptive control schemes [21][22][23] were proposed for the single-link FJMs with unknown nonlinearities, and a DSC backstepping-based impedance controller was designed in Ref. [24] for a 5-DOF flexible joint robot. However, these results do not consider the potential errors caused by the filters. ...
Flexible-joint manipulators (FJMs) have been widely used in the fields of industry, agriculture, medical service, aerospace, etc. However, the FJMs in practical applications inevitably encounter various uncertainties including matched and mismatched disturbances. In this paper, we consider the high precision tracking control problem of FJMs in the presence of unknown lumped matched and mismatched disturbances. An efficient model-assisted composite control approach is proposed by integrating two reduced-order extended state observers (RESOs), a second-order command filtered backstepping (SCFB) technique and an error compensation dynamic system. Unlike some existing methods, the RESOs constructed with partial known model information are capable of estimating and compensating the matched and mismatched disturbances simultaneously. In addition, by employing the SCFB with an error compensation system, the proposed approach can not only overcome the problem of “explosion of complexity” inherent in backstepping, but also reduce the filtering errors arising from the command filters. The stability of the resulting control system and the convergence of error signals are guaranteed by Lyapunov stability theory. Comparative simulations are conducted for a single-link FJM with both matched and mismatched disturbances, and the results show that the proposed approach achieves a better tracking performance, i.e., compared with conventional backstepping method and adaptive fuzzy command filtered control method, the tracking accuracy is improved by 99.5% and 99.2%, respectively.
... Impedance control is one of the most stable methods of controlling the interaction process. 4 Under normal circumstances, it is difficult to achieve interactions between the manipulators and the environment or humans using the position control strategy. Therefore, the design of the control strategy for the contact force between the manipulators and the environment has become one of the most important research areas in robotics. ...
An impedance control method in null-space for 7-degree-of-freedom redundant manipulators is presented in this article. The null-space impedance motion of the redundant manipulator was described in the angle domain and a null-space impedance equation was established. To successfully obtain joint angular velocity, a high-gain observer is designed. The stability of the proposed control method was proved based on passive theory. The proposed null-space impedance control method not only preserved the Cartesian space impedance characteristics of the redundant manipulator but also achieved null-space impedance control. When the manipulator interacted with the outside world, the position error of the end effector asymptotically converged due to the self-motion of the manipulator. Simulations and experiments of the general impedance control method and the proposed impedance control method verified the effectiveness of the proposed method.
... Step 3) Design the actual control u Define the third error-surface as (18) and its derivative is ...
A novel steam temperature control method is developed using the dynamic surface control method in this paper which is based on the saturated water-steam temperature system states observer and the one-order dynamics of the experiment for sprayer element. Certain first-order low-pass filters are introduced into the designing process to avoid the occurrence of high-order derivatives of elements in the system which makes it easy to implement in practical applications. The proposed control method is effective in compensating for the disturbance of load and fuel. Simulation results show that the dynamic surface control method still ensures an accurate result, even if the loads change in a great and parameters of the controlled plant change significantly.
... Unfortunately, these nonlinearities can not always to be set aside and it is necessary to use other methods. Therefore, in recent years, many researches has been done in the area of nonlinear systems control such as the backstepping method citing the work done by Xiong et al [8]. Moreover, a backstepping technique adopted for an n link robot system has been presented by Seyed et al [9]. ...
Flexible joint manipulators are widely used in
industries. The harmonic drive is often token as rigid component
in the mechanical arm control. Nevertheless, several studies have
shown that the joint flexibility characteristic in manipulator
seriously reduces the performance of whole system especially
when including actuator dynamic. This paper proposes a backstepping
method to control flexible joint manipulator including
the dynamic of actuator to obtain the desired trajectory with
minimum vibration. The controller is achieved by the analysis
of Lyapunov stability to guarantee the stability of the system.
Backstepping controller has been treated for position control and
an hysteresis controller has been developed for current control.
Simulation results through simulink environment are necessary
to show the effectiveness of the adopted controllers
... The control approaches discussed so far are based on the rigid joint manipulator, without considering the motor dynamics. To put the control approaches into practical usage, the dynamics of the electric motor and the joint flexibility (as proposed by Spong [14]) are considered F m Bθ τ τ τ (14) ( ) τ K θ q (15) where θ , Considering the joint flexibility, the joint position can be updated by 1 q θ τ K (16) Then the required joint torque to achieve the desired Cartesian impedance can be derived as ...
... Then, matrix K is calculated by Eq. (15). The manipulator frame assignments were shown in [16] and parameters are listed in Table 1 ...
... The two hardware controllers communicate over the 25Mbps LVDS serial data bus with the cycle time less than 200μ s. Furthermore, the sample frequencies of the Cartesian and joint controllers are up to 5 KHz and 20 KHz, respectively[16]. ...
This paper presents a weighted path planning approach for a light weight robot coming into compliant contact with the environment, as well as robotenvironment interaction enabled impedance control. Using a joint torque sensor, Cartesian impedance control is introduced to realize the manipulator compliance control. Then the weighted path planning approach is developed to detect the contact condition and to control the interaction. Experiments are carried out on a 5-DOF light weight manipulator. The experimental results validate the developed control approach enhanced by the weighted path planning scheme.
Accounting for the autopilot as second-order dynamics, an observer-based guidance law with terminal impact angle constraint is designed using the dynamic surface control method. Some first-order low-pass filters are introduced into the designing process to avoid the occurrence of high-order derivatives of the line of sight (LOS) angle in the expression of the guidance law such that the guidance law can be implemented in practical applications. The proposed guidance law is effective in compensating for the second-order autopilot lag. In simulation of intercepting targets with sinusoidal acceleration, the guidance law is compared with the biased proportional navigation guidance (BPNG) law in the presence of missile autopilot lag. Simulation results show that the proposed observer-based guidance law with terminal impact angle constraint is able to guide a missile with large autopilot lag to impact a target with a desired angle and achieve a small miss distance, even if the target escapes in a great and fast maneuver.
In this study, a new backstepping control scheme is proposed to deal with the high accuracy flexible joint servo system's position control. Based on the introduction of non-consecutive friction, the cascade dynamics equations of flexible joint are established. The macroscopic controller is designed using a backstepping design technique to suppress the flexibility and external disturbance based on the L2 property. To identify the non-consecutive function, the wavelet neural networks (WNN) are utilized in the microscopic controller to compensate for nonlinear friction and uncertainties. The combined strategy of macro and micro controller can overcome the derivation explosion problem and avoid the joint acceleration measurement and upper bound forecast. Finally, stability analysis and mathematical simulations are presented to verify the effectiveness of this new controller.
