Adaptive motion/force control of constrained manipulators using a new fast terminal sliding mode

In this paper, we discuss the finite-time motion/force control problem for robot manipulators with environmental constraint and robotic modelling uncertainties. An adaptive finite-time motion/force control strategy is designed using a new fast terminal sliding mode. Firstly, motion control and force control are decoupled according to the coordinate transformation. Secondly, a new fast terminal sliding mode consisting of motion tracking errors and force tracking error is proposed and applied into the new dynamic model. Then, an adaptive motion/force control algorithm combined with the new fast terminal sliding mode is designed to make the motion tracking errors and force tracking error converge to zero in finite time. Finally, simulation results for a two-link constrained manipulator are presented to validate the analysis.

[1]  O. Barambones,et al.  Energy-based approach to sliding composite adaptive control for rigid robots with finite error convergence time , 2002 .

[2]  Akira Inoue,et al.  Nonlinear control of the underactuated two-link manipulator using the sliding-mode type partial linearisation method , 2011, Int. J. Comput. Appl. Technol..

[3]  Shihua Li,et al.  Finite-time cooperative attitude control of multiple spacecraft using terminal sliding mode control technique , 2012, Int. J. Model. Identif. Control..

[4]  K. David Young.  Application of Sliding Mode to Constrained Robot Motion Control , 1988, 1988 American Control Conference.

[5]  C. M. Kwan.  Robust adaptive force/motion control of constrained robots , 1996 .

[6]  Hasan Komurcugil,et al.  Adaptive terminal sliding-mode control strategy for DC-DC buck converters. , 2012, ISA transactions.

[7]  Nagarajan Sukavanam,et al.  Stability analysis of robust adaptive hybrid position/force controller for robot manipulators using neural network with uncertainties , 2012, Neural Computing and Applications.

[8]  Yu Tang,et al.  Terminal sliding mode control for rigid robots , 1998, Autom..

[9]  Shuzhi Sam Ge,et al.  Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators , 2008, Autom..

[10]  Xinghuo Yu,et al.  Fast terminal sliding-mode control design for nonlinear dynamical systems , 2002 .

[11]  Zhaowei Sun,et al.  6-DOF robust adaptive terminal sliding mode control for spacecraft formation flying , 2012 .

[12]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[13]  Hong Ren Wu,et al.  A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators , 1994, IEEE Trans. Autom. Control..

[14]  Zhihong Man,et al.  Sliding mode-like learning control for SISO complex systems with T-S fuzzy models , 2012, Int. J. Model. Identif. Control..

[15]  Suguru Arimoto,et al.  Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties , 2003, Autom..

[16]  Xinghuo Yu,et al.  On nonsingular terminal sliding-mode control of nonlinear systems , 2013, Autom..

[17]  Tao Zou,et al.  A finite-time approach to formation control of multiple mobile robots with terminal sliding mode , 2012, Int. J. Syst. Sci..

[18]  Wail Gueaieb,et al.  A robust adaptive fuzzy position/force control scheme for cooperative manipulators , 2003, IEEE Trans. Control. Syst. Technol..

[19]  Dongya Zhao,et al.  Output Feedback Terminal Sliding Mode Control for a Class of Second Order Nonlinear Systems , 2013 .

[20]  Shaoyuan Li,et al.  Finite time position synchronised control for parallel manipulators using fast terminal sliding mode , 2009, Int. J. Syst. Sci..

[21]  Quanmin Zhu,et al.  A new TSMC prototype robust nonlinear task space control of a 6 DOF parallel robotic manipulator , 2010 .

[22]  F. Karray,et al.  A Robust Hybrid Intelligent Position/Force Control Scheme for Cooperative Manipulators , 2007, IEEE/ASME Transactions on Mechatronics.

[23]  Fotis N. Koumboulis,et al.  Independent force and position control for cooperating manipulators , 2003, J. Frankl. Inst..

[24]  Chian-Song Chiu,et al.  Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators , 2004, Autom..

[25]  Jian Huang,et al.  Sliding mode control with fuzzy compensator of pneumatic muscle actuator , 2012, Int. J. Comput. Appl. Technol..

[26]  Chun-Yi Su,et al.  Force/motion control of constrained robots using sliding mode , 1992 .

[27]  Maarouf Saad,et al.  A novel adaptive hybrid force-position control of a robotic manipulator , 2011, Int. J. Model. Identif. Control..

[28]  Zhihong Man,et al.  Non-singular terminal sliding mode control of rigid manipulators , 2002, Autom..

[29]  Xinghuo Yu,et al.  Adaptive fast terminal sliding mode tracking control of robotic manipulator , 2001 .

[30]  George A. Rovithakis,et al.  Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control , 2007, Autom..

[31]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[32]  Yunong Zhang,et al.  Robust adaptive motion/force control for wheeled inverted pendulums , 2010, Autom..

[33]  Chian-Song Chiu,et al.  Terminal sliding mode control for maximum power point tracking of photovoltaic power generation systems , 2012 .

[34]  Kuang-Yow Lian,et al.  Sliding-mode motion/force control of constrained robots , 1998 .