On the Robust Outer Loop Control of Robotic Systems
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- 英文论文题名：On the Robust Outer Loop Control of Robotic Systems
- 论文作者：Hanlei Wang ; Tiantian Jiang ; Shuanfeng Xu ; Yongchun Xie
- 英文论文作者：Hanlei Wang ; Tiantian Jiang ; Shuanfeng Xu ; Yongchun Xie ; Science and Technology on Space Intelligent Control Laboratory ; Beijing Institute of Control Engineering
- 年：2017
- 作者机构：Science and Technology on Space Intelligent Control Laboratory,Beijing Institute of Control Engineering;
- 英文论文关键词：Inner/outer loop ; outer loop control ; robust control ; robotics
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP242
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：5
- 文件大小：276k
- 原文格式：D
- 会议级别：全国
摘要
Most industrial/commercial robots typically employ an unmodifiable inner joint controller and only the joint position or velocity command can be designed by the user. In this paper, we propose a robust approach to the control of such robotic systems with the uncertainty and nonlinearity being taken into consideration. We develop robust outer loop controllers that can rigorously ensure the uniform ultimate boundedness of the closed-loop system, without relying on the ad hoc assumption of the conventional kinematic controller that the effects of the dynamics can be neglected. The performance of the proposed robust outer loop controllers is shown by numerical simulations with a three-DOF(degree-of-freedom) manipulator.
Most industrial/commercial robots typically employ an unmodifiable inner joint controller and only the joint position or velocity command can be designed by the user. In this paper, we propose a robust approach to the control of such robotic systems with the uncertainty and nonlinearity being taken into consideration. We develop robust outer loop controllers that can rigorously ensure the uniform ultimate boundedness of the closed-loop system, without relying on the ad hoc assumption of the conventional kinematic controller that the effects of the dynamics can be neglected. The performance of the proposed robust outer loop controllers is shown by numerical simulations with a three-DOF(degree-of-freedom) manipulator.
Most industrial/commercial robots typically employ an unmodifiable inner joint controller and only the joint position or velocity command can be designed by the user. In this paper, we propose a robust approach to the control of such robotic systems with the uncertainty and nonlinearity being taken into consideration. We develop robust outer loop controllers that can rigorously ensure the uniform ultimate boundedness of the closed-loop system, without relying on the ad hoc assumption of the conventional kinematic controller that the effects of the dynamics can be neglected. The performance of the proposed robust outer loop controllers is shown by numerical simulations with a three-DOF(degree-of-freedom) manipulator.
引文
[1]C.Abdallah,D.Dawson,P.Dorato,and M.Jamshidi.Survey of robust control for rigid robots.IEEE Control Systems Magazine,11(2):24-30,Feb.1991.
[2]F.Caccavale and P.Chiacchio.Identification of dynamic parameters and feedforward control for a conventional industrial manipulator.Control Engineering Practice,2(6):1039-1050,Dec.1994.
[3]C.C.Cheah,C.Liu,and J.-J.E.Slotine.Adaptive tracking control for robots with unknown kinematic and dynamic properties.The International Journal of Robotics Research,25(3):283-296,Mar.2006.
[4]M.J.Corless and G.Leitmann.Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems.IEEE Transactions on Automatic Control,26(5):1139-1144,Oct.1981.
[5]C.A.Desoer and M.Vidyasagar.Feedback Systems:InputOutput Properties.Academic Press,New York,1975.
[6]M.Grotjahn and B.Heimann.Model-based feedforward control in industrial robotics.The International Journal of Robotics Research,21(1):45-60,Jan.2002.
[7]S.Hutchinson,G.D.Hager,and P.I.Corke.A tutorial on visual servo control.IEEE Transactions on Robotics and Automation,12(5):651-670,Oct.1996.
[8]R.Kelly and J.Moreno.Manipulator motion control in operational space using joint velocity inner loops.Automatica,41(8):1423-1432,Aug.2005.
[9]Y.-H.Liu,H.Wang,C.Wang,and K.K.Lam.Uncalibrated visual servoing of robots using a depth-independent interaction matrix.IEEE Transactions on Robotics,22(4):804-817,Aug.2006.
[10]W.J.Rugh.Linear System Theory.Prentice-Hall,Upper Saddle River,NJ,2nd edition,1996.
[11]H.G.Sage,M.F.De Mathelin,and E.Ostertag.Robust control of robot manipulators:A survey.International Journal of Control,72(16):1498-1522,1999.
[12]F.Sanfilippo,L.I.Hatledal,H.Zhang,M.Fago,and K.Y.Pettersen.Controlling Kuka industrial robots:Flexible communication interface JOpen Show Var.IEEE Robotics&Automation Magazine,22(4):96-109,Dec.2015.
[13]B.Siciliano.A closed-loop inverse kinematic scheme for online joint-based robot control.Robotica,8(3):231-243,Jul.1990.
[14]J.-J.E.Slotine and W.Li.On the adaptive control of robot manipulators.The International Journal of Robotics Research,6(3):49-59,Sep.1987.
[15]J.-J.E.Slotine and W.Li.Composite adaptive control of robot manipulators.Automatica,25(4):509-519,Jul.1989.
[16]J.-J.E.Slotine and W.Li.Applied Nonlinear Control.Prentice-Hall,Englewood Cliffs,NJ,1991.
[17]M.W.Spong.On the robust control of robot manipulators.IEEE Transactions on Automatic Control,37(11):1782-1786,Nov.1992.
[18]M.W.Spong,S.Hutchinson,and M.Vidyasagar.Robot Modeling and Control.Wiley,New York,2006.
[19]J.Swevers,W.Verdonck,and J.De Schutter.Dynamic model identification for industrial robots.IEEE Control Systems Magazine,27(5):58-71,Oct.2007.
[20]H.Wang.Adaptive visual tracking for robotic systems without image-space velocity measurement.Automatica,55:294-301,May 2015.
[21]H.Wang.Adaptive control of robot manipulators with uncertain kinematics and dynamics.IEEE Transactions on Automatic Control,62(2):948-954,Feb.2017.
[22]H.Wang,W.Ren,C.C.Cheah,Y.Xie,and S.Lyu.Dynamic modularity approach to adaptive inner/outer loop control of robotic systems.ar Xiv preprint ar Xiv:1603.05557,2017.
[2]F.Caccavale and P.Chiacchio.Identification of dynamic parameters and feedforward control for a conventional industrial manipulator.Control Engineering Practice,2(6):1039-1050,Dec.1994.
[3]C.C.Cheah,C.Liu,and J.-J.E.Slotine.Adaptive tracking control for robots with unknown kinematic and dynamic properties.The International Journal of Robotics Research,25(3):283-296,Mar.2006.
[4]M.J.Corless and G.Leitmann.Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems.IEEE Transactions on Automatic Control,26(5):1139-1144,Oct.1981.
[5]C.A.Desoer and M.Vidyasagar.Feedback Systems:InputOutput Properties.Academic Press,New York,1975.
[6]M.Grotjahn and B.Heimann.Model-based feedforward control in industrial robotics.The International Journal of Robotics Research,21(1):45-60,Jan.2002.
[7]S.Hutchinson,G.D.Hager,and P.I.Corke.A tutorial on visual servo control.IEEE Transactions on Robotics and Automation,12(5):651-670,Oct.1996.
[8]R.Kelly and J.Moreno.Manipulator motion control in operational space using joint velocity inner loops.Automatica,41(8):1423-1432,Aug.2005.
[9]Y.-H.Liu,H.Wang,C.Wang,and K.K.Lam.Uncalibrated visual servoing of robots using a depth-independent interaction matrix.IEEE Transactions on Robotics,22(4):804-817,Aug.2006.
[10]W.J.Rugh.Linear System Theory.Prentice-Hall,Upper Saddle River,NJ,2nd edition,1996.
[11]H.G.Sage,M.F.De Mathelin,and E.Ostertag.Robust control of robot manipulators:A survey.International Journal of Control,72(16):1498-1522,1999.
[12]F.Sanfilippo,L.I.Hatledal,H.Zhang,M.Fago,and K.Y.Pettersen.Controlling Kuka industrial robots:Flexible communication interface JOpen Show Var.IEEE Robotics&Automation Magazine,22(4):96-109,Dec.2015.
[13]B.Siciliano.A closed-loop inverse kinematic scheme for online joint-based robot control.Robotica,8(3):231-243,Jul.1990.
[14]J.-J.E.Slotine and W.Li.On the adaptive control of robot manipulators.The International Journal of Robotics Research,6(3):49-59,Sep.1987.
[15]J.-J.E.Slotine and W.Li.Composite adaptive control of robot manipulators.Automatica,25(4):509-519,Jul.1989.
[16]J.-J.E.Slotine and W.Li.Applied Nonlinear Control.Prentice-Hall,Englewood Cliffs,NJ,1991.
[17]M.W.Spong.On the robust control of robot manipulators.IEEE Transactions on Automatic Control,37(11):1782-1786,Nov.1992.
[18]M.W.Spong,S.Hutchinson,and M.Vidyasagar.Robot Modeling and Control.Wiley,New York,2006.
[19]J.Swevers,W.Verdonck,and J.De Schutter.Dynamic model identification for industrial robots.IEEE Control Systems Magazine,27(5):58-71,Oct.2007.
[20]H.Wang.Adaptive visual tracking for robotic systems without image-space velocity measurement.Automatica,55:294-301,May 2015.
[21]H.Wang.Adaptive control of robot manipulators with uncertain kinematics and dynamics.IEEE Transactions on Automatic Control,62(2):948-954,Feb.2017.
[22]H.Wang,W.Ren,C.C.Cheah,Y.Xie,and S.Lyu.Dynamic modularity approach to adaptive inner/outer loop control of robotic systems.ar Xiv preprint ar Xiv:1603.05557,2017.