Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output Constraints
This paper proposes a finite-time output controller to realize the tracking control of n degrees of freedom (n-DOF) manipulator, which can address the time-varying output constraints and uncertainties, such as modeling error, unknown frictions, and external disturbance. A nonlinear mapping is conduc...
| 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/9940922/ |
| _version_ | 1828098859555880960 |
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| author | Duc Thien Tran Hoai Vu Anh Truong Maolin Jin Kyoung Kwan Ahn |
| author_facet | Duc Thien Tran Hoai Vu Anh Truong Maolin Jin Kyoung Kwan Ahn |
| author_sort | Duc Thien Tran |
| collection | DOAJ |
| description | This paper proposes a finite-time output controller to realize the tracking control of n degrees of freedom (n-DOF) manipulator, which can address the time-varying output constraints and uncertainties, such as modeling error, unknown frictions, and external disturbance. A nonlinear mapping is conducted to convert the constrained manipulator dynamics into unconstrained dynamics. Based on the unconstrained dynamics, a finite-time output controller is established based on the output-feedback control scheme and nonlinear extended state observer (NESO). Fractional order terms are exploited to obtain finite-time convergence, and the switching law is developed for the NESO to estimate both the unmeasured states and uncertainties. The superiority of the NESO and the stability of the overall system are theoretically demonstrated by using the Lyapunov approach. The effectiveness of the proposed controller is illustrated by conducting simulations and experiments with robot manipulators and comparing the obtained results with those of the existing techniques. |
| first_indexed | 2024-04-11T08:08:33Z |
| format | Article |
| id | doaj.art-dade344097694c488f764550350a1ff3 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-11T08:08:33Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-dade344097694c488f764550350a1ff32022-12-22T04:35:27ZengIEEEIEEE Access2169-35362022-01-011011911911913110.1109/ACCESS.2022.32202379940922Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output ConstraintsDuc Thien Tran0https://orcid.org/0000-0002-6684-0681Hoai Vu Anh Truong1https://orcid.org/0000-0003-4859-7734Maolin Jin2https://orcid.org/0000-0001-5420-9705Kyoung Kwan Ahn3https://orcid.org/0000-0002-7927-3348Department of Automatic Control, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, VietnamSchool of Mechanical Engineering, University of Ulsan, Ulsan, South KoreaHuman-Centered Robotics Center, Korea Institute of Robotics and Technology Convergence (KIRO), Pohang, South KoreaSchool of Mechanical Engineering, University of Ulsan, Ulsan, South KoreaThis paper proposes a finite-time output controller to realize the tracking control of n degrees of freedom (n-DOF) manipulator, which can address the time-varying output constraints and uncertainties, such as modeling error, unknown frictions, and external disturbance. A nonlinear mapping is conducted to convert the constrained manipulator dynamics into unconstrained dynamics. Based on the unconstrained dynamics, a finite-time output controller is established based on the output-feedback control scheme and nonlinear extended state observer (NESO). Fractional order terms are exploited to obtain finite-time convergence, and the switching law is developed for the NESO to estimate both the unmeasured states and uncertainties. The superiority of the NESO and the stability of the overall system are theoretically demonstrated by using the Lyapunov approach. The effectiveness of the proposed controller is illustrated by conducting simulations and experiments with robot manipulators and comparing the obtained results with those of the existing techniques.https://ieeexplore.ieee.org/document/9940922/Robotic manipulatoroutput-feedback controlnonlinear extended state observernonlinear mappingLyapunov approachtime-varying output constraint |
| spellingShingle | Duc Thien Tran Hoai Vu Anh Truong Maolin Jin Kyoung Kwan Ahn Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output Constraints IEEE Access Robotic manipulator output-feedback control nonlinear extended state observer nonlinear mapping Lyapunov approach time-varying output constraint |
| title | Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output Constraints |
| title_full | Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output Constraints |
| title_fullStr | Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output Constraints |
| title_full_unstemmed | Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output Constraints |
| title_short | Finite-Time Output Control for Uncertain Robotic Manipulators With Time-Varying Output Constraints |
| title_sort | finite time output control for uncertain robotic manipulators with time varying output constraints |
| topic | Robotic manipulator output-feedback control nonlinear extended state observer nonlinear mapping Lyapunov approach time-varying output constraint |
| url | https://ieeexplore.ieee.org/document/9940922/ |
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