A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control
This paper is inspired by the automation of cleaning tasks required inside the endogenous environment. This work intends to develop a robust adaptive strategy for force-position control, using robotic manipulators. With this objective, the operational/task space is decoupled into two sub-spaces, and...
| 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/9177062/ |
| _version_ | 1818930491359756288 |
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| author | Madan Mohan Rayguru Mohan Rajesh Elara Braulio Felix Gomez Balakrishnan Ramalingam |
| author_facet | Madan Mohan Rayguru Mohan Rajesh Elara Braulio Felix Gomez Balakrishnan Ramalingam |
| author_sort | Madan Mohan Rayguru |
| collection | DOAJ |
| description | This paper is inspired by the automation of cleaning tasks required inside the endogenous environment. This work intends to develop a robust adaptive strategy for force-position control, using robotic manipulators. With this objective, the operational/task space is decoupled into two sub-spaces, and the impedance model for the manipulator is designed using the standard second-order filters. The impedance filter generates the reference commands for the inner loop, which assures bounded position and force tracking. A delay estimation based adaptive sliding mode strategy is proposed for carrying out the tracking objective, and its convergence is proved using the Lyapunov-Razumikhin theorem. The controller uses past data to estimate the uncertainties in the error dynamics and exploits the sliding mode strategy to provide robustness in the closed-loop. This technique circumvents the under/overestimation issues, and linear/nonlinear parametrization requirements in conventional adaptive schemes. Multiple numerical simulations and experiments are performed, and the results point to the validity of the proposed control law in real-world settings. |
| first_indexed | 2024-12-20T04:01:32Z |
| format | Article |
| id | doaj.art-d26bfbca3999425695680632a126754e |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-20T04:01:32Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-d26bfbca3999425695680632a126754e2022-12-21T19:54:09ZengIEEEIEEE Access2169-35362020-01-01815535215536110.1109/ACCESS.2020.30194299177062A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance ControlMadan Mohan Rayguru0https://orcid.org/0000-0003-4339-4444Mohan Rajesh Elara1https://orcid.org/0000-0001-6504-1530Braulio Felix Gomez2Balakrishnan Ramalingam3Engineering Product Development, Singapore University of Technology and Design, SingaporeEngineering Product Development, Singapore University of Technology and Design, SingaporeEngineering Product Development, Singapore University of Technology and Design, SingaporeEngineering Product Development, Singapore University of Technology and Design, SingaporeThis paper is inspired by the automation of cleaning tasks required inside the endogenous environment. This work intends to develop a robust adaptive strategy for force-position control, using robotic manipulators. With this objective, the operational/task space is decoupled into two sub-spaces, and the impedance model for the manipulator is designed using the standard second-order filters. The impedance filter generates the reference commands for the inner loop, which assures bounded position and force tracking. A delay estimation based adaptive sliding mode strategy is proposed for carrying out the tracking objective, and its convergence is proved using the Lyapunov-Razumikhin theorem. The controller uses past data to estimate the uncertainties in the error dynamics and exploits the sliding mode strategy to provide robustness in the closed-loop. This technique circumvents the under/overestimation issues, and linear/nonlinear parametrization requirements in conventional adaptive schemes. Multiple numerical simulations and experiments are performed, and the results point to the validity of the proposed control law in real-world settings.https://ieeexplore.ieee.org/document/9177062/Hybrid impedance controlautomation of cleaningtime delay based adaptive controlrobot manipulator |
| spellingShingle | Madan Mohan Rayguru Mohan Rajesh Elara Braulio Felix Gomez Balakrishnan Ramalingam A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control IEEE Access Hybrid impedance control automation of cleaning time delay based adaptive control robot manipulator |
| title | A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control |
| title_full | A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control |
| title_fullStr | A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control |
| title_full_unstemmed | A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control |
| title_short | A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control |
| title_sort | time delay estimation based adaptive sliding mode strategy for hybrid impedance control |
| topic | Hybrid impedance control automation of cleaning time delay based adaptive control robot manipulator |
| url | https://ieeexplore.ieee.org/document/9177062/ |
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