Practical robust control design and experimental validation of modular jointed cooperative robots with inequality constraints-Reference-Cited by-同舟云学术

Practical robust control design and experimental validation of modular jointed cooperative robots with inequality constraints

Published:2022-12-30 Issue: Volume: Page:095440622211415
ISSN:0954-4062
Container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Author:

Li XiuYu¹²,Zhen ShengChao¹²³⁴,Liu XiaoLi¹²^ORCID,Zhang Ye¹,Chen Ye-Hwa³⁵,Chen Feng⁶

Affiliation:

1. School of Mechanical Engineering, Hefei University of Technology, Hefei, PR China

2. Anhui Key Laboratory of Digital Design and Manufacturing, Hefei University of Technology, Hefei, PR China

3. The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA

4. Anhui Artificial Intelligence Laboratory

5. Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an, PR China

6. Institute of Advanced Manufacturing Engineering, Hefei University, Anhui 230022, China

Abstract

In this paper, a new practical dynamic robust control approach for cooperative robots with inequality constraints is proposed. The controller can compensate errors caused by uncertainties and external disturbances. The inequality constraint is eliminated by choosing proper boundary function and using state transformation. In this way, the controlled output is guaranteed within the desired range. The Lyapunov minimax method is used to prove that the controller can guarantee the uniform boundedness and uniform ultimate boundedness and stability of the robot system. Experimental verifications are carried out on a 2-DOF cooperative robot experimental platform with joint modules. The experimental platform is equipped with a rapid prototyping controller system (CSPACE). Numerical simulation and experimental verification results show that the proposed practical robust controller has significant advantages of trajectory tracking performance and security for cooperative robots with inequality constraints.

Funder

fundamental research funds for central universities of the central south university

university natural science research project of anhui province

Publisher

SAGE Publications

Subject

Mechanical Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/09544062221141593

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