Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator
The planar three-link passive-active-active (PAA) under-actuated manipulator does not satisfy the small-time local controllability (STLC), which makes it more difficult to control than other planar under-actuated manipulators. This paper presents a two-stage switching hybrid control method based on...
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8734053/ |
| _version_ | 1819170325378629632 |
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| author | Xin Gao Zeyu Ren Lin Zhai Qingxuan Jia Huihe Liu |
| author_facet | Xin Gao Zeyu Ren Lin Zhai Qingxuan Jia Huihe Liu |
| author_sort | Xin Gao |
| collection | DOAJ |
| description | The planar three-link passive-active-active (PAA) under-actuated manipulator does not satisfy the small-time local controllability (STLC), which makes it more difficult to control than other planar under-actuated manipulators. This paper presents a two-stage switching hybrid control method based on improved particle swarm optimization (PSO) for the PAA under-actuated manipulator. According to the model reduction strategy, the control process is divided into two stages. The workspace of the manipulator is analyzed to guarantee the target position within the reachable region. In order to reduce the probability of falling into local optimum, we introduce the Metropolis criterion of simulated annealing algorithm and crowding factor of artificial fish swarm algorithm into PSO algorithm to calculate the target angles of two active joints. At each control stage, we design the Lyapunov function to maintain the angle of an active joint unchanged while we build the sliding surface and select the power function as reaching law to make the other active joint converge to the target angle. The control law switches to next stage when the rotated joint converges to the target angle. The proposed method not only retains the rapidity of sliding mode control, but also reduces the total chattering of the system by the Lyapunov function method. Simulation results demonstrate that the proposed method has shorter steady-state adjustment time than that of existing typical control methods, and its overshoot is almost zero. |
| first_indexed | 2024-12-22T19:33:36Z |
| format | Article |
| id | doaj.art-951773278c3b4563aa0d375ad6d177ab |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T19:33:36Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-951773278c3b4563aa0d375ad6d177ab2022-12-21T18:15:03ZengIEEEIEEE Access2169-35362019-01-017762637627310.1109/ACCESS.2019.29219688734053Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated ManipulatorXin Gao0https://orcid.org/0000-0002-7760-0915Zeyu Ren1Lin Zhai2Qingxuan Jia3Huihe Liu4School of Automation, Beijing University of Posts and Telecommunications, Beijing, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing, ChinaThe planar three-link passive-active-active (PAA) under-actuated manipulator does not satisfy the small-time local controllability (STLC), which makes it more difficult to control than other planar under-actuated manipulators. This paper presents a two-stage switching hybrid control method based on improved particle swarm optimization (PSO) for the PAA under-actuated manipulator. According to the model reduction strategy, the control process is divided into two stages. The workspace of the manipulator is analyzed to guarantee the target position within the reachable region. In order to reduce the probability of falling into local optimum, we introduce the Metropolis criterion of simulated annealing algorithm and crowding factor of artificial fish swarm algorithm into PSO algorithm to calculate the target angles of two active joints. At each control stage, we design the Lyapunov function to maintain the angle of an active joint unchanged while we build the sliding surface and select the power function as reaching law to make the other active joint converge to the target angle. The control law switches to next stage when the rotated joint converges to the target angle. The proposed method not only retains the rapidity of sliding mode control, but also reduces the total chattering of the system by the Lyapunov function method. Simulation results demonstrate that the proposed method has shorter steady-state adjustment time than that of existing typical control methods, and its overshoot is almost zero.https://ieeexplore.ieee.org/document/8734053/The planar three-link passive-active-active (PAA) under-actuated manipulatorthe improved particle swarm optimization (PSO)hybrid control methodLyapunov direct methodsliding mode control |
| spellingShingle | Xin Gao Zeyu Ren Lin Zhai Qingxuan Jia Huihe Liu Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator IEEE Access The planar three-link passive-active-active (PAA) under-actuated manipulator the improved particle swarm optimization (PSO) hybrid control method Lyapunov direct method sliding mode control |
| title | Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator |
| title_full | Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator |
| title_fullStr | Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator |
| title_full_unstemmed | Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator |
| title_short | Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator |
| title_sort | two stage switching hybrid control method based on improved pso for planar three link under actuated manipulator |
| topic | The planar three-link passive-active-active (PAA) under-actuated manipulator the improved particle swarm optimization (PSO) hybrid control method Lyapunov direct method sliding mode control |
| url | https://ieeexplore.ieee.org/document/8734053/ |
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