Inversion-based sliding control of a flexible-link manipulator

DOI10.1080/002071798221786MaRDI QIDQ4955074zbMATH OpenOpenAlexFDO

Authors M. Moallem, K. Khorasani, Rajni V. Patel

Publication date 12 June 2000

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/002071798221786

zbMATH Keywords

flexible link robotic manipulatorsinput-output decouplingrobust trackingsliding mode

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Variable structure systems (93B12) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Review text

In this paper a new, robust tracking control algorithm has been derived for flexible link robotic manipulators. The algorithm is based on the input-output inversion and involves a sliding mode action. The dynamics of the manipulator and the output map are assumed in the form \[ \left \{\begin{matrix} M(q,\delta) {\ddot q\brack \ddot\delta} +{f_1(q,\dot q)+g_1(q,\dot q, \delta,\dot \delta)\brack f_2(q,\dot q)+g_2(q,\dot q,\delta, \dot\delta) +K \delta}= {u\brack 0}\\ y=q+ \Psi\delta, \end{matrix}\right. \tag{*} \] where \(q\in \mathbb{R}^n\), is a vector of joint positions, \(\delta\in \mathbb{R}^m\) denotes link deflections, \(K\) is the stiffness matrix, \(\Psi\) stands for a structure matrix depending on modal shape functions, and the remaining terms have the standard robotic meaning. Given the tracking errors \(e=y_r-y\), \(e_I= \int edt\), a sliding surface and a saturated distance function have been defined, respectively, as \[ \begin{cases} \sigma=K_p e_I+K_d e+\dot e\\ s_\sigma= \sigma-\Phi I_n sat\left( {a\over\Phi} \right), \end{cases} \] where \(\Phi\) is a measure of thickness of the boundary layer around the sliding surface. The system equations (*) are transformed to an affine control system with outputs and complemented with the time evolution equation of the distance \(s_\sigma\). In this framework a control algorithm has been designed in the form \[ u=u_N+u_U= u_n+u_\Delta +u_U, \] where \(u_N\) is responsible for tracking in the nominal system (*), \(n_U\) makes the sliding surface attractive, and \(u_\Delta\) ensures boundedness of the deflections. The main result of the paper establishes conditions under which the control law guarantees a practical stability of tracking errors \(e,\dot e\), deflections \(\delta,\dot \delta\), and distances \(s_\sigma\). The theory has been illustrated with computer simulations.

Recommendations

• Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments
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Cited in

(5)

• Composite learning sliding mode control of flexible-link manipulator
• Causal approximate inversion for control of structurally flexible manipulators using nonlinear inner-outer factorization
• SLIDING-MODE ADAPTIVE CONTROL FOR FLEXIBLE-LINK MANIPULATORS USING A COMPOSITE DESIGN
• Inverse control of a three-link manipulator
• Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments

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