A Novel Practical Robust Control Inheriting PID for SCARA Robot
In this paper, we propose a novel practical robust control algorithm for the Selective Compliance Articulated Robot Arm (SCARA) robot and verify the effectiveness through experiments. The dynamic model of the SCARA robot is established considering uncertainties, which include the nonlinear friction,...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9298782/ |
| _version_ | 1818853475362013184 |
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| author | Shengchao Zhen Ziyi Zhao Xiaoli Liu Feng Chen Han Zhao Ye-Hwa Chen |
| author_facet | Shengchao Zhen Ziyi Zhao Xiaoli Liu Feng Chen Han Zhao Ye-Hwa Chen |
| author_sort | Shengchao Zhen |
| collection | DOAJ |
| description | In this paper, we propose a novel practical robust control algorithm for the Selective Compliance Articulated Robot Arm (SCARA) robot and verify the effectiveness through experiments. The dynamic model of the SCARA robot is established considering uncertainties, which include the nonlinear friction, parameter uncertainty, and external disturbance. To restrain the reversal chattering, we apply a modified Stribeck friction model with Gaussian compensation term as the friction description. The algorithm is composed of a proportional-derivative (PD) feedback term based on the model and a robust term. The formation of the robust part comprises the upper bound of the uncertainty. The Lyapunov minimax method is adopted to prove that the system is uniformly bounded and uniformly ultimately bounded, thus guaranteeing the practical stability of the system. Moreover, rapid controller prototyping cSPACE, as the experimental platform, can eliminate the tedious programming work and provide a great convenience for the experiments. The experimental results indicate that the robust control algorithm has good performance, which provides accurate trajectory tracking under the influence of uncertainties. |
| first_indexed | 2024-12-19T07:37:24Z |
| format | Article |
| id | doaj.art-a22eb5a7b59a4fa0bacae31bda15f97e |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T07:37:24Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a22eb5a7b59a4fa0bacae31bda15f97e2022-12-21T20:30:33ZengIEEEIEEE Access2169-35362020-01-01822740922741910.1109/ACCESS.2020.30457899298782A Novel Practical Robust Control Inheriting PID for SCARA RobotShengchao Zhen0https://orcid.org/0000-0002-8431-6453Ziyi Zhao1https://orcid.org/0000-0002-0215-3276Xiaoli Liu2https://orcid.org/0000-0001-7479-4251Feng Chen3Han Zhao4https://orcid.org/0000-0003-3098-1500Ye-Hwa Chen5https://orcid.org/0000-0002-9591-1397School of Mechanical Engineering, Hefei University of Technology, Hefei, ChinaSchool of Mechanical Engineering, Hefei University of Technology, Hefei, ChinaSchool of Mechanical Engineering, Hefei University of Technology, Hefei, ChinaInstitute of Advanced Manufacturing Engineering, Hefei University, Anhui, ChinaSchool of Mechanical Engineering, Hefei University of Technology, Hefei, ChinaGeorge W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USAIn this paper, we propose a novel practical robust control algorithm for the Selective Compliance Articulated Robot Arm (SCARA) robot and verify the effectiveness through experiments. The dynamic model of the SCARA robot is established considering uncertainties, which include the nonlinear friction, parameter uncertainty, and external disturbance. To restrain the reversal chattering, we apply a modified Stribeck friction model with Gaussian compensation term as the friction description. The algorithm is composed of a proportional-derivative (PD) feedback term based on the model and a robust term. The formation of the robust part comprises the upper bound of the uncertainty. The Lyapunov minimax method is adopted to prove that the system is uniformly bounded and uniformly ultimately bounded, thus guaranteeing the practical stability of the system. Moreover, rapid controller prototyping cSPACE, as the experimental platform, can eliminate the tedious programming work and provide a great convenience for the experiments. The experimental results indicate that the robust control algorithm has good performance, which provides accurate trajectory tracking under the influence of uncertainties.https://ieeexplore.ieee.org/document/9298782/SCARA robotrobust controluncertaintynonlinear friction |
| spellingShingle | Shengchao Zhen Ziyi Zhao Xiaoli Liu Feng Chen Han Zhao Ye-Hwa Chen A Novel Practical Robust Control Inheriting PID for SCARA Robot IEEE Access SCARA robot robust control uncertainty nonlinear friction |
| title | A Novel Practical Robust Control Inheriting PID for SCARA Robot |
| title_full | A Novel Practical Robust Control Inheriting PID for SCARA Robot |
| title_fullStr | A Novel Practical Robust Control Inheriting PID for SCARA Robot |
| title_full_unstemmed | A Novel Practical Robust Control Inheriting PID for SCARA Robot |
| title_short | A Novel Practical Robust Control Inheriting PID for SCARA Robot |
| title_sort | novel practical robust control inheriting pid for scara robot |
| topic | SCARA robot robust control uncertainty nonlinear friction |
| url | https://ieeexplore.ieee.org/document/9298782/ |
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