Han, L. orcid.org/0000-0002-4023-3322, Mao, J., Zhang, C. et al. (3 more authors) (2024) A Systematic Trajectory Tracking Framework for Robot Manipulators: An Observer-Based Non-Smooth Control Approach. IEEE Transactions on Industrial Electronics, 71 (9). pp. 11104-11114. ISSN 0278-0046
Abstract
The mechanical design of a robot often influences the choice of control strategy, especially for high-dimensional manipulator systems with multiple inputs and outputs. Striking a balance between hardware and software, it remains a significant challenge to design a control framework that is both easy to implement and high performing. This article addresses this concern by developing a systematic control architecture for trajectory tracking problems, focusing solely on position measurements. The approach involves constructing a dynamic model of the manipulator in the joint space through parameter identification techniques. A nonsmooth observer is then devised to estimate unmeasured states, unknown disturbances, and uncertain nonlinear functions in real time, which are incorporated into a nonsmooth feedback control design to provide a control solution. The stability of the system is ensured using the homogeneous system theory and Lyapunov theorems. To validate the effectiveness and feasibility of the proposed tracking control approach, extensive evaluations are conducted on a six-degree-of-freedom manipulator, including tests for tracking performance and repeatability.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is an author produced version of an article accepted for publication in IEEE Transactions on Industrial Electronics, made available under the terms of the Creative Commons Attribution License (CC-BY), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
Keywords: | Robots, Observers, Manipulator dynamics, Control systems, Estimation, Velocity measurement, Trajectory tracking |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 08 Nov 2023 10:53 |
Last Modified: | 15 Jun 2024 09:16 |
Published Version: | https://ieeexplore.ieee.org/document/10324401 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/TIE.2023.3331098 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:205051 |