Time delay control of cable-driven manipulators with adaptive fractional-order nonsingular terminal sliding mode

Published on Jul 1, 2018in Advances in Engineering Software4.141
路 DOI :10.1016/J.ADVENGSOFT.2018.03.004
Yaoyao Wang17
Estimated H-index: 17
(NUAA: Nanjing University of Aeronautics and Astronautics),
Fei Yan9
Estimated H-index: 9
(NUAA: Nanjing University of Aeronautics and Astronautics)
+ 1 AuthorsBai Chen10
Estimated H-index: 10
(NUAA: Nanjing University of Aeronautics and Astronautics)
Sources
Abstract
Abstract For the high performance control of cable-driven manipulators, a novel time delay control (TDC) scheme with adaptive fractional-order nonsingular terminal sliding mode (AFONTSM) is presented and studied in this work. The presented control scheme uses time delay estimation (TDE) as its basic framework, which can effectively obtain a fascinating model-free feature just using the time-delayed information of the closed-loop control system. Afterwards, a novel AFONTSM control scheme is applied to provide with good comprehensive performance under complicated lumped disturbance in both reaching and sliding phases. The presented control method can be easily applied in real situations thanks to TDE, meanwhile satisfactory control performance can be guaranteed benefiting from the adopted AFONTSM error dynamics. Stability analysis is given based on Lyapunov stability theory. Finally, the effectiveness and superiorities of our newly designed control scheme are validated through 2-DOFs (degree of freedoms) comparative simulations and experiments.
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References38
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#1Yaoyao Wang (NUAA: Nanjing University of Aeronautics and Astronautics)H-Index: 17
#2Surong Jiang (NUAA: Nanjing University of Aeronautics and Astronautics)H-Index: 7
Last. Hongtao Wu (NUAA: Nanjing University of Aeronautics and Astronautics)H-Index: 18
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Abstract To ensure satisfactory control performance for the cable-driven manipulators under complex lumped uncertainties, a new continuous fractional-order nonsingular terminal sliding mode (CFONTSM) control scheme based on time delay estimation (TDE) is proposed and studied in this paper. The proposed control scheme contains three elements, a TDE element adopted to suitably cancel out the unknown lumped dynamics with purposely time-delayed signals of the closed-loop control system, a newly prop...
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Oct 1, 2017 in ICCAS (International Conference on Control, Automation and Systems)
#1Yaoyao Wang (NUAA: Nanjing University of Aeronautics and Astronautics)H-Index: 17
#2Surong Jiang (NUAA: Nanjing University of Aeronautics and Astronautics)H-Index: 7
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To ensure satisfactory control performance for the newly designed cable-driven manipulator with complex unknown lumped disturbance, a sliding mode control (SMC) method based on time delay estimation (TDE) is proposed and investigated in this paper. The proposed method mainly has two elements, the TDE element used to properly estimate and compensate the lumped unknown dynamics of the system, and the SMC element used to ensure satisfactory control performance under complex disturbance. The propose...
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#1Seung-Jae Cho (POSTECH: Pohang University of Science and Technology)H-Index: 3
#2Jin S. Lee (POSTECH: Pohang University of Science and Technology)H-Index: 5
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This paper presents adaptive time-delay control (TDC) with a supervising switching technique (SST) for controlling robot manipulators. Two adaptive techniques are used to enhance the TDC. The control gain of TDC is adaptively tuned using a class of Nussbaum functions. With Nussbaum functions, compared with conventional TDC using a constant gain, the proposed control using Nussbaum functions can deal with inertia parameter variations due to the movement of a robot manipulator. The SST is used to ...
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Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple and yet effective alternative to robot model-based controls and/or intelligent controls. An inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented in this paper. The proposed formulation consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired...
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A new nonlinear robust control scheme is proposed and investigated for the trajectory tracking control problem of an underwater vehicle-manipulator system (UVMS) using the discrete time delay estimation (DTDE) technique. The proposed control scheme mainly has two parts: the DTDE part and the desired dynamics part. The former one is applied to properly estimate and compensate the complex unknown lumped dynamics of the system, using the intentionally time-delayed system鈥檚 information. The latter o...
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#1Yaoyao Wang (NUAA: Nanjing University of Aeronautics and Astronautics)H-Index: 17
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A new discrete time delay control design is presented and investigated for the joint-space control of hydraulic manipulators in this article. Thanks to the time delay estimation technique, our new ...
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#1Suin Kim (UNIST: Ulsan National Institute of Science and Technology)H-Index: 8
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For a physical human-robot interaction (pHRI) system such as an exoskeleton, it has been an important issue to control the interaction force between the user and the actuators because it directly determines the accuracy of the realized impedance. However, the accurate force control of the exoskeleton system has not been fully achieved due to the difficulties caused by uncertainties from pHRI. To overcome this problem, in this study, the series elastic actuator (SEA) was operated by a time delay ...
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#1Dong Gyu Lee (Yeungnam University)H-Index: 12
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Energy consumption is a problem for robotic manipulators, which are popular in manufacturing, assembly, and process handling. Some of the most significant energy consumption comes from the weight of the large moving mass of the manipulator. This paper proposes a new multi-degree-of-freedom (DOF) manipulator with a wire-driven gravity compensation mechanism. The most significant problem of a wire system is the durability of the wire, which is improved in this study by using a multiwinding mechani...
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A model-free robust adaptive controller is proposed for control of humanoid robots with flexible joints. The proposed controller uses a time-delay estimation technique to estimate and cancel nonlinear terms in robot dynamics including disturbance torques due to the joint flexibility, and assigns desired dynamics specified by a sliding variable. A gain-adaptation law is developed to dynamically update the gain of the proposed controller using the magnitude of the sliding variable and the gain its...
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The training for both translation and rotation of the hand is desirable for patients with impairments. This paper focuses on the design and control of a 7-degree-of-freedom cable-driven arm exoskeleton (CAREX-7), used for dexterous motion (including translation and rotation) training or assistance of the whole-arm. The CAREX-7 includes an additional wrist module compared with CAREX, and eight cables are routed through the exoskeleton cuffs to drive the whole-arm motion. Based on the 鈥渁ssist-as-n...
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Abstract null null In this study, a new adaptive fractional-order nonsingular terminal sliding mode (AFONTSM) controller is presented. A novel multi-purpose sliding surface is constructed, with the aim of bringing the reaction wheels in to rest after every attitude stabilization maneuver, utilizing the fractional-order difference of the quaternion error and the reaction wheels angular momentum error. The closed-loop system鈥檚 practical fixed-time stability is investigated using the Lyapunov theor...
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#1Xin Zhang (Lanzhou Jiaotong University)
#2Ran Shi (Lanzhou Jiaotong University)
When the manipulator system is subject to unknown disturbance, in order to improve the tracking accuracy of the manipulator, this paper designs a fractional-order nonsingular fast terminal sliding mode (FONFTSM) controller. The controller is divided into three parts. First of all, in order to improve the performance of the sliding stage, this paper designs a FONFTSM surface. By introducing a fractional-order operator, the convergence speed and accuracy of the system state are effectively improve...
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This paper presents an adaptive proportional-integral-derivative fractional-order nonsingular terminal sliding mode (PID-FONTSM) control for the cable-driven manipulators using time-delay estimatio...
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Abstract For the trajectory tracking purpose of cable-driven robots, a novel robust control method is proposed and investigated in this paper. The proposed method consists of three elements, i.e. a time-delay estimation (TDE) element and a nonsingular fast terminal sliding mode (NFTSM) control element and a feedforward compensation. The TDE technique is utilized to estimate the lumped system dynamics in a simple but effective way, and then ensures an attractive model-free control scheme. The NFT...
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For accurate position tracking control of cable 鈥 driven manipulators under heavy lumped uncertainties, a novel adaptive nonsingular terminal sliding mode (ANTSM) control scheme using time delay es...
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