Robust Sliding-Mode Position/Force Set-Point Control of Underactuated Constrained manipulator
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- 英文论文题名：Robust Sliding-Mode Position/Force Set-Point Control of Underactuated Constrained manipulator
- 论文作者：Zhulong Shao ; Shurong Li ; Huaiqiang Yin
- 英文论文作者：Zhulong Shao ; Shurong Li ; Huaiqiang Yin ; College of Information and Control Engineering ; China University of Petroleum (East China)
- 年：2017
- 作者机构：College of Information and Control Engineering,China University of Petroleum (East China);
- 英文论文关键词：Underactuated manipulator ; Position/Force control ; Sliding-Mode control
- 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：TP241
- 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：6
- 文件大小：2780k
- 原文格式：D
- 会议级别：全国
摘要
In this paper, a robust position/force set-point control strategy based on a sliding-mode is designed for constrained underactuated manipulator. At first, the reduced underactuated position/force dynamic model is obtained by considering a coordination transformation. Then, a controller based on a sliding-mode is designed to drive the closed-loop system states to reach the adopted sliding model surface. Considering the parametric uncertainties of the manipulator, a robust control strategy is applied to bound compensation. Furthermore, we can obtain a global asymptotic stability result for the positions error in the Lyapunov sense and the error of constraint force is bounded with a controllable bound. Finally, the simulation results of a three-DOF manipulator system illustrate the validity and the feasibility of the proposed method in this paper.
In this paper, a robust position/force set-point control strategy based on a sliding-mode is designed for constrained underactuated manipulator. At first, the reduced underactuated position/force dynamic model is obtained by considering a coordination transformation. Then, a controller based on a sliding-mode is designed to drive the closed-loop system states to reach the adopted sliding model surface. Considering the parametric uncertainties of the manipulator, a robust control strategy is applied to bound compensation. Furthermore, we can obtain a global asymptotic stability result for the positions error in the Lyapunov sense and the error of constraint force is bounded with a controllable bound. Finally, the simulation results of a three-DOF manipulator system illustrate the validity and the feasibility of the proposed method in this paper.
In this paper, a robust position/force set-point control strategy based on a sliding-mode is designed for constrained underactuated manipulator. At first, the reduced underactuated position/force dynamic model is obtained by considering a coordination transformation. Then, a controller based on a sliding-mode is designed to drive the closed-loop system states to reach the adopted sliding model surface. Considering the parametric uncertainties of the manipulator, a robust control strategy is applied to bound compensation. Furthermore, we can obtain a global asymptotic stability result for the positions error in the Lyapunov sense and the error of constraint force is bounded with a controllable bound. Finally, the simulation results of a three-DOF manipulator system illustrate the validity and the feasibility of the proposed method in this paper.
引文
[1]Hong K S.An open-loop control for underactuated manipulators using oscillatory inputs:steering capability of an unactuated joint[J].Control Systems Technology IEEE Transactions on,2002,10(3):469-480.
[2]Wang Z P,Ge S S,Lee T H.Robust motion/force control of uncertain holonomic/nonholonomic mechanical systems[J].IEEE/ASME Transactions on Mechatronics,2004,9(1):118-123.
[3]Gao D X,Xue D Y,Chen D L.Robust adaptive position/force hybrid control for constrained robotic manipulators[J].Journal of System Simulation,2007,19(2):348-351.
[4]Arai H,Tanie K,Shiroma N.Feedback control of a 3-DOF planar underactuated manipulator[C]//IEEE International Conference on Robotics and Automation,1997.Proceedings.IEEE,1997:703-709 vol.1.
[5]Mahindrakar A D,Rao S,Banavar R N.Point-to-point control of a 2R planar horizontal underactuated manipulator[J].Mechanism&Machine Theory,2006,41(7):838-844.
[6]Brockett R.Asymptotic stability and feedback stabilization.Differetial Geometric Control Theory,1983,27:181-19
[7]Su C Y,Leung T P,Zhou Q J.Force/motion control of constrained robots using sliding mode[J].Automatic Control IEEE Transactions on,1992,37(5):668-672.
[8]Chen W,Yu Y,Zhao X,et al.Position control of a 2DOF underactuated planar flexible manipulator[C]//IEEE International Conference on Mechatronics and Automation.IEEE,2011:464-469.
[9]Hasan A T.Under-Actuated Robot Manipulator Positioning Control Using Artificial Neural Network Inversion Technique[J].Advances in Artificial Intelligence,2012,2012(4).
[10]Kherraz K,Hamerlain M,Achour N.Robust sliding mode controller for a class of under-actuated systems[C]//International Conference on Sciences and Techniques of Automatic Control and Computer Engineering.IEEE,2014:942-946.
[11]Chen W,Zhao L,Zhao X,et al.Control of the Underactuated Flexible Manipulator in the Operational Space[C]//International Conference on Intelligent Human-Machine Systems and Cybernetics.IEEE,2009:470-473.
[12]Lian K Y,Lin C R.Sliding-mode motion/force control of constrained robots[J].IEEE Transactions on Automatic Control,1998,43(8):1101-1103.
[13]Wang W,Yi J,Zhao D,et al.Design of a stable sliding-mode controller for a class of second-order underactuated systems[J].IEEE Proceedings-Control Theory and Applications,2004,151(6):683-690.
[14]Qian D,Yi J,Zhao D.Control of a class of under-actuated systems with saturation using hierarchical sliding mode[C]//IEEE International Conference on Robotics and Automation.IEEE Xplore,2008:2429-2434.
[15]Su C Y,Stepanenko Y.Adaptive variable structure set-point control of underactuated robots[J].IEEE Transactions on Automatic Control,1999,44(11):2090-2093.
[16]Yin H,Li S,Wang H.Sliding mode position/force control for motion synchronization of a flexible-joint manipulator system with time delay[C]//Chinese Control Conference.2016:6195-6200.
[2]Wang Z P,Ge S S,Lee T H.Robust motion/force control of uncertain holonomic/nonholonomic mechanical systems[J].IEEE/ASME Transactions on Mechatronics,2004,9(1):118-123.
[3]Gao D X,Xue D Y,Chen D L.Robust adaptive position/force hybrid control for constrained robotic manipulators[J].Journal of System Simulation,2007,19(2):348-351.
[4]Arai H,Tanie K,Shiroma N.Feedback control of a 3-DOF planar underactuated manipulator[C]//IEEE International Conference on Robotics and Automation,1997.Proceedings.IEEE,1997:703-709 vol.1.
[5]Mahindrakar A D,Rao S,Banavar R N.Point-to-point control of a 2R planar horizontal underactuated manipulator[J].Mechanism&Machine Theory,2006,41(7):838-844.
[6]Brockett R.Asymptotic stability and feedback stabilization.Differetial Geometric Control Theory,1983,27:181-19
[7]Su C Y,Leung T P,Zhou Q J.Force/motion control of constrained robots using sliding mode[J].Automatic Control IEEE Transactions on,1992,37(5):668-672.
[8]Chen W,Yu Y,Zhao X,et al.Position control of a 2DOF underactuated planar flexible manipulator[C]//IEEE International Conference on Mechatronics and Automation.IEEE,2011:464-469.
[9]Hasan A T.Under-Actuated Robot Manipulator Positioning Control Using Artificial Neural Network Inversion Technique[J].Advances in Artificial Intelligence,2012,2012(4).
[10]Kherraz K,Hamerlain M,Achour N.Robust sliding mode controller for a class of under-actuated systems[C]//International Conference on Sciences and Techniques of Automatic Control and Computer Engineering.IEEE,2014:942-946.
[11]Chen W,Zhao L,Zhao X,et al.Control of the Underactuated Flexible Manipulator in the Operational Space[C]//International Conference on Intelligent Human-Machine Systems and Cybernetics.IEEE,2009:470-473.
[12]Lian K Y,Lin C R.Sliding-mode motion/force control of constrained robots[J].IEEE Transactions on Automatic Control,1998,43(8):1101-1103.
[13]Wang W,Yi J,Zhao D,et al.Design of a stable sliding-mode controller for a class of second-order underactuated systems[J].IEEE Proceedings-Control Theory and Applications,2004,151(6):683-690.
[14]Qian D,Yi J,Zhao D.Control of a class of under-actuated systems with saturation using hierarchical sliding mode[C]//IEEE International Conference on Robotics and Automation.IEEE Xplore,2008:2429-2434.
[15]Su C Y,Stepanenko Y.Adaptive variable structure set-point control of underactuated robots[J].IEEE Transactions on Automatic Control,1999,44(11):2090-2093.
[16]Yin H,Li S,Wang H.Sliding mode position/force control for motion synchronization of a flexible-joint manipulator system with time delay[C]//Chinese Control Conference.2016:6195-6200.