Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators
To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were propose...
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| Veröffentlicht in: | Complexity (New York, N.Y.) Jg. 2020; H. 2020; S. 1 - 11 |
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| Hauptverfasser: | , , , |
| Format: | Journal Article |
| Sprache: | Englisch |
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Cairo, Egypt
Hindawi Publishing Corporation
14.08.2020
Hindawi John Wiley & Sons, Inc Wiley |
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| ISSN: | 1076-2787, 1099-0526 |
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| Abstract | To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were proposed for robotic control in many literature studies, the essential factors, such as coupling and friction, are rarely mentioned as it is difficult to build the precise dynamic model of the robotic manipulator. An adaptive backstepping sliding mode control is proposed to solve the precise trajectory tracking under external disturbances with complex environment, and the dynamic response characteristics of a two-link robotic manipulator are described in this paper. First, the Lagrange kinetic method is used to derive the precise dynamic model which includes the nonlinear factor with friction and coupling. Moreover, the dynamic model of two-link robotic manipulator is built. Second, the estimate function for the nonlinear part is selected, and backstepping algorithm is used for analyzing the stabilities of the sliding mode controller by using Lyapunov theory. Furthermore, the convergence of the proposed controller is verified subject to the external disturbance. At last, numerical simulation results are reported to demonstrate the effectiveness of the proposed method. |
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| AbstractList | To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were proposed for robotic control in many literature studies, the essential factors, such as coupling and friction, are rarely mentioned as it is difficult to build the precise dynamic model of the robotic manipulator. An adaptive backstepping sliding mode control is proposed to solve the precise trajectory tracking under external disturbances with complex environment, and the dynamic response characteristics of a two-link robotic manipulator are described in this paper. First, the Lagrange kinetic method is used to derive the precise dynamic model which includes the nonlinear factor with friction and coupling. Moreover, the dynamic model of two-link robotic manipulator is built. Second, the estimate function for the nonlinear part is selected, and backstepping algorithm is used for analyzing the stabilities of the sliding mode controller by using Lyapunov theory. Furthermore, the convergence of the proposed controller is verified subject to the external disturbance. At last, numerical simulation results are reported to demonstrate the effectiveness of the proposed method. |
| Audience | Academic |
| Author | Puchen, Zhu Wu, Wenqiang Dachang, Zhu Baolin, Du |
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| CitedBy_id | crossref_primary_10_3390_sym13081445 crossref_primary_10_1155_2021_5546535 crossref_primary_10_1080_02286203_2024_2371678 |
| Cites_doi | 10.1109/tac.2004.835398 10.1155/2014/307985 10.1016/j.rcim.2010.03.013 10.1109/tnnls.2018.2852711 10.1155/2013/161325 10.1155/2017/5860649 10.1016/j.rcim.2018.06.001 10.1109/lra.2019.2928761 10.1007/s10846-010-9476-x 10.1109/tcst.2012.2185697 10.1016/j.ins.2019.04.027 10.1016/j.neucom.2016.12.048 10.3390/s19143171 10.1002/rnc.4469 10.1109/tii.2017.2785415 10.3233/jifs-169080 10.1109/TSMC.2018.2884491 10.1016/j.automatica.2009.05.011 10.1109/TSMC.2019.2914491 10.1007/s11771-018-3909-2 10.1177/1687814017690470 10.1061/(asce)as.1943-5525.0000790 10.3390/electronics8050591 10.1016/j.chaos.2005.08.027 10.1109/tfuzz.2013.2270010 10.1007/s12555-018-0210-y 10.1109/tnnls.2019.2905715 10.1109/tie.2018.2803773 10.1007/s10845-014-0952-1 10.1109/tsmc.2017.2695483 10.3390/a12030066 10.1016/j.mechmachtheory.2019.103589 10.1109/TCYB.2020.2996743 |
| ContentType | Journal Article |
| Copyright | Copyright © 2020 Zhu Dachang et al. COPYRIGHT 2020 John Wiley & Sons, Inc. Copyright © 2020 Zhu Dachang et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. http://creativecommons.org/licenses/by/4.0 |
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| SubjectTerms | Adaptive control Algorithms Closed loop systems Computer simulation Control algorithms Controllers Coupling Design techniques Disturbances Dynamic models Dynamic response Energy Friction Manipulators Mathematical models Numerical analysis Parameter estimation Parameter identification Robot arms Robot control Robotics Robots Simulation methods Sliding mode control Tracking control Trajectory control Velocity |
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| Title | Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators |
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