Robust adaptive constrained motion and force control of manipulators with guaranteed transient performance

In this paper, a combined adaptive and smooth sliding mode control (SMC) methodology is suggested to design a constrained motion and force tracking controller so as to achieve asymptotic motion and force tracking without persistent excitation condition in the presence of parametric uncertainties. Filtered error signals are used in both motion and force sliding surfaces to enhance dynamic response of the system. The proposed controller provides guaranteed transient performance with prescribed final tracking accuracy in the presence of both parametric uncertainties and external disturbances or modelling errors. Simulation results are presented to illustrate the proposed controller.

[1]  Masayoshi Tomizuka,et al.  Smooth Robust Adaptive Sliding Mode Control of Manipulators With Guaranteed Transient Performance , 1996 .

[2]  E. Paljug,et al.  Some important considerations in force control implementation , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[3]  Masayoshi Tomizuka,et al.  Comparative experiments of robust and adaptive control with new robust adaptive controllers for robot manipulators , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[4]  Xiaoping Yun,et al.  Dynamic state feedback control of constrained robot manipulators , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[5]  N. H. McClamroch,et al.  Feedback stabilization and tracking of constrained robots , 1988 .

[6]  Danwei Wang,et al.  A Unified Approach to Variable Structure Control of Robot Manipulators , 1992, 1992 American Control Conference.

[7]  Andrew A. Goldenberg,et al.  Force and position control of manipulators during constrained motion tasks , 1989, IEEE Trans. Robotics Autom..

[8]  Masayoshi Tomizuka,et al.  Adaptive Control of Robot Manipulators in Constrained Motion , 1993, 1993 American Control Conference.

[9]  Petros A. Ioannou,et al.  Instability analysis and robust adaptive control of robotic manipulators , 1989, IEEE Trans. Robotics Autom..

[10]  B. Yao,et al.  VSC coordinated control of two manipulator arms in the presence of environmental constraints , 1992 .

[11]  R. Carelli,et al.  Adaptive control of constrained robots modeled by singular systems , 1989, Proceedings of the 28th IEEE Conference on Decision and Control,.

[12]  Tsuneo Yoshikawa,et al.  Dynamic hybrid position/force control of robot manipulators-controller design and experiment , 1987, IEEE J. Robotics Autom..

[13]  Andrew R. Teel.  Adaptive tracking with robust stability , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[14]  Graham C. Goodwin,et al.  A parameter estimation perspective of continuous time model reference adaptive control , 1987, Autom..

[15]  Yunhui Liu,et al.  Model-based adaptive hybrid control for geometrically constrained robots , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[16]  Chun-Yi Su,et al.  Adaptive control of robot manipulators under constrained motion , 1990, 29th IEEE Conference on Decision and Control.

[17]  Danwei Wang,et al.  Robust motion and force control of robot manipulators in the presence of environmental constraint uncertainties , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[18]  Li-Chen Fu,et al.  Efficient adaptive hybrid control strategies for robots in constrained manipulation , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.