Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators
This article presents a novel robust centralized controller for impedance control and reference tracking of redundant manipulators. The proposed approach takes advantage of the robustness properties of sliding mode control (SMC) and the prediction capabilities of model predictive control (MPC). SMC...
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| Veröffentlicht in: | IEEE transactions on robotics Jg. 36; H. 4; S. 1348 - 1355 |
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| Format: | Journal Article |
| Sprache: | Englisch |
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IEEE
01.08.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 1552-3098, 1941-0468 |
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| Abstract | This article presents a novel robust centralized controller for impedance control and reference tracking of redundant manipulators. The proposed approach takes advantage of the robustness properties of sliding mode control (SMC) and the prediction capabilities of model predictive control (MPC). SMC theory is employed to compensate unmodeled system dynamics and disturbances, ensuring accurate tracking and enforcement of a desired end-point impedance during interaction with the environment. Differently from other schemes, the sliding manifold is expressed directly in the task space and the approach is generalized to redundant manipulators by projection of the manifolds into joint space. Chattering attenuation is provided by a second-order integral sliding mode control law. These features are exploited by the MPC to guarantee motion and actuation constraint fulfillment based on the nominal feedback linearized robot model. A formal analysis of the control system is given along with the relevant proofs. The resulting model predictive sliding mode controller is able to cope with delays acting on the control input torque. The effectiveness of the approach is validated in simulation on a 4-DOF planar robot, and its viability on real platforms through experiments on a 7-DOF prototype ABB YuMi robot arm. |
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| AbstractList | This article presents a novel robust centralized controller for impedance control and reference tracking of redundant manipulators. The proposed approach takes advantage of the robustness properties of sliding mode control (SMC) and the prediction capabilities of model predictive control (MPC). SMC theory is employed to compensate unmodeled system dynamics and disturbances, ensuring accurate tracking and enforcement of a desired end-point impedance during interaction with the environment. Differently from other schemes, the sliding manifold is expressed directly in the task space and the approach is generalized to redundant manipulators by projection of the manifolds into joint space. Chattering attenuation is provided by a second-order integral sliding mode control law. These features are exploited by the MPC to guarantee motion and actuation constraint fulfillment based on the nominal feedback linearized robot model. A formal analysis of the control system is given along with the relevant proofs. The resulting model predictive sliding mode controller is able to cope with delays acting on the control input torque. The effectiveness of the approach is validated in simulation on a 4-DOF planar robot, and its viability on real platforms through experiments on a 7-DOF prototype ABB YuMi robot arm. |
| Author | Allevi, Fabio Rocco, Paolo Nicolis, Davide |
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| SubjectTerms | Actuation Aerospace electronics Attenuation Compliance and impedance control Computer simulation Control theory Controllers Forecasting Impedance Manifolds Manipulators motion control of manipulators optimization and optimal control Predictive control Redundancy redundant robots Robot arms Robots Robust control robust/adaptive control of robotic systems Robustness Sliding mode control sliding mode control (SMC) System dynamics Task analysis Task space Tracking control |
| Title | Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators |
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