Robust Control Design for Accurate Trajectory Tracking of Multi-Degree-of-Freedom Robot Manipulator in Virtual Simulator

被引:7
作者
Abbasi, Saad Jamshed [1 ]
Khan, Hamza [1 ]
Lee, Jin Won [1 ]
Salman, M. [1 ]
Lee, Min Cheol [1 ]
机构
[1] Pusan Natl Univ, Sch Mech Engn, Busan 46241, South Korea
基金
新加坡国家研究基金会;
关键词
Perturbation methods; Robots; Manipulator dynamics; Observers; Switches; Estimation error; Sliding mode control; Robust control; sliding mode control; perturbation estimation; perturbation compensation; state observer; and extended state observer; SLIDING-MODE CONTROL; NONLINEAR-SYSTEM; OBSERVER; IDENTIFICATION; COMPENSATION; KINEMATICS; DYNAMICS; EQUATION;
D O I
10.1109/ACCESS.2022.3149298
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Robot manipulators have complex dynamics and are affected by significant uncertainties and external disturbances (perturbations). Consequently, determining the exact mathematical model of a robot manipulator is a tedious task. Accordingly, accurate trajectory tracking is a dominant feature in the design of position control for robot manipulators. The main objective of this research is to design a robust and accurate position control for a robot manipulator despite the absence of an exact model. For this purpose, an extended state observer (ESO)-based sliding mode control (SMC) is proposed. The main concept in the ESO is to define and estimate the assumed perturbation, which includes known and unknown system dynamics, uncertainties, and external disturbances. Additionally, the ESO estimates the system states. This estimated perturbation information, which is combined with the SMC input, is utilized as a feedback term to compensate for the effect of the actual perturbation. The perturbation compensation improves the controller performance, resulting in a slight position error, less sensitivity to perturbation, and a small switching gain required for the SMC. The advantage of the proposed algorithm is that it only requires partial state information and position feedback. Thus, identifying the system parameters for the nominal model before designing the controller is unnecessary. The proposed algorithm is implemented and compared with the conventional SMC and the SMC with a sliding perturbation observer (SMCSPO) in a virtual environment based on MATLAB SimMechanics. The comparison results validate the robustness of the proposed technique in the presence of perturbation and show that the technique has a significantly reduced trajectory tracking error than the conventional SMC and SMCSPO.
引用
收藏
页码:17155 / 17168
页数:14
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