Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRI
This paper presents an active disturbance rejection control (ADRC) method for modular robot manipulators (MRMs) based on extended state observer (ESO), which solves the problem of trajectory tracking when modular robot manipulators facing the emotional physical human-robot interaction (pHRI). The dy...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9755175/ |
| _version_ | 1818049645865074688 |
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| author | Xiao Pang Xiaodong Men Bo Dong Tianjiao An |
| author_facet | Xiao Pang Xiaodong Men Bo Dong Tianjiao An |
| author_sort | Xiao Pang |
| collection | DOAJ |
| description | This paper presents an active disturbance rejection control (ADRC) method for modular robot manipulators (MRMs) based on extended state observer (ESO), which solves the problem of trajectory tracking when modular robot manipulators facing the emotional physical human-robot interaction (pHRI). The dynamic model of MRMs is formulated via joint torque feedback (JTF) technique that is deployed for each joint module to design the model compensation controller. ESO is used to estimate the interconnected dynamic coupling (IDC) term and the interference term caused by emotional pHRI. An uncertainty decomposition-based robust control is developed to compensate the friction term. The terminal sliding mode control (TSMC) algorithm is introduced to the controller to provide faster convergence and higher precision control effect. Based on the Lyapunov theory, the tracking error is proved to be ultimately uniformly bounded (UUB). Finally, experiments demonstrate advantages of the proposed method. |
| first_indexed | 2024-12-10T10:40:53Z |
| format | Article |
| id | doaj.art-85a8b62b4f6445c3af698c06d7535c02 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-10T10:40:53Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-85a8b62b4f6445c3af698c06d7535c022022-12-22T01:52:18ZengIEEEIEEE Access2169-35362022-01-0110386253863410.1109/ACCESS.2022.31665979755175Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRIXiao Pang0Xiaodong Men1Bo Dong2https://orcid.org/0000-0003-3988-8054Tianjiao An3https://orcid.org/0000-0002-4292-6691Institute of Scientific Research and Academic, Changchun Guanghua University, Changchun, ChinaDepartment of Control Science and Engineering, Changchun University of Technology, Changchun, ChinaDepartment of Control Science and Engineering, Changchun University of Technology, Changchun, ChinaDepartment of Control Science and Engineering, Changchun University of Technology, Changchun, ChinaThis paper presents an active disturbance rejection control (ADRC) method for modular robot manipulators (MRMs) based on extended state observer (ESO), which solves the problem of trajectory tracking when modular robot manipulators facing the emotional physical human-robot interaction (pHRI). The dynamic model of MRMs is formulated via joint torque feedback (JTF) technique that is deployed for each joint module to design the model compensation controller. ESO is used to estimate the interconnected dynamic coupling (IDC) term and the interference term caused by emotional pHRI. An uncertainty decomposition-based robust control is developed to compensate the friction term. The terminal sliding mode control (TSMC) algorithm is introduced to the controller to provide faster convergence and higher precision control effect. Based on the Lyapunov theory, the tracking error is proved to be ultimately uniformly bounded (UUB). Finally, experiments demonstrate advantages of the proposed method.https://ieeexplore.ieee.org/document/9755175/Modular robot manipulatorsextended state observerterminal sliding modeemotional pHRIactive disturbance rejection control |
| spellingShingle | Xiao Pang Xiaodong Men Bo Dong Tianjiao An Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRI IEEE Access Modular robot manipulators extended state observer terminal sliding mode emotional pHRI active disturbance rejection control |
| title | Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRI |
| title_full | Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRI |
| title_fullStr | Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRI |
| title_full_unstemmed | Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRI |
| title_short | Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRI |
| title_sort | decentralized robust active disturbance rejection control of modular robot manipulators an experimental investigation with emotional phri |
| topic | Modular robot manipulators extended state observer terminal sliding mode emotional pHRI active disturbance rejection control |
| url | https://ieeexplore.ieee.org/document/9755175/ |
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