Switching tracking controller selection for robot manipulators with unknown shifting load

doi:10.3969/j.issn.1000-1565.2018.04.015

Journal of Hebei University (Natural Science Edition) ›› 2018, Vol. 38 ›› Issue (4): 437-442.DOI: 10.3969/j.issn.1000-1565.2018.04.015

Previous Articles Next Articles

Switching tracking controller selection for robot manipulators with unknown shifting load

WANG Xia^1,2,WANG Shan¹,TANG Yujun¹,HOU Kuo¹,DONG Jinguo³

1.College of Electronic Information Engineering, Hebei University, Baoding 071002, China; 2.Key Laboratory of Digital Medical in Hebei Province, Hebei University, Baoding 071002, China; 3.Shijiazhuang New Century Patent and Trademark Firm, Ltd., Shijiazhuang 050000, China

Received:2016-07-06 Online:2018-07-25 Published:2018-07-25

Abstract

Abstract: A controller selection mechanism is proposed to solve the tracking problem of robot manipulator when the load shifts unpredictably. A switched system is used to model the manipulator so that the shifting of loads can be captured by the switching signal. When the switching signal of the switched system is unavailable, we design a switching logic for the candidate controllers via constructing a supervisory variable. Asymptotic tracking is achieved when the load change is slow enough. The proposed method is verified by simulation.

Key words: switched systems, robot manipulator, logic based switching

CLC Number:

TP273

WANG Xia,WANG Shan,TANG Yujun,HOU Kuo,DONG Jinguo. Switching tracking controller selection for robot manipulators with unknown shifting load[J]. Journal of Hebei University (Natural Science Edition), 2018, 38(4): 437-442.

References

[1] LIBERZON D, MORSE A S. Basic problems in stability and design of switched systems[J]. IEEE Control Systems Magazine,1999,19(5): 59-70. DOI: 10.1109/37.793443.
[2] HAI L,ANTSAKLIS P J. Stability and stabilizability of switched linear systems: A survey of recent results[J]. IEEE Transactions on Automatic Control,2009,54(2):308-322. DOI: 10.1109/TAC.2008.2012009.
[3] BRANICKY M S. Multiple Lyapunov functions and other analysis tools for switched and hybrid systems[J]. IEEE Transactions on Automatic Control,1998,43(4):475-482. DOI: 10.1109/9.664150.
[4] DAAFOUZ J,RIEDINGER P,IUNG C. Stability analysis and control synthesis for switched systems: a switched Lyapunov function approach[J]. IEEE Transactions on Automatic Control,2002,47(11):1883-1887. DOI: 10.1109/TAC.2002.804474.
[5] SUN X M,WU D,LIU G P,et al. Input-to-state stability for networked predictive control with random delays in both feedback and forward channels[J]. IEEE Transactions on Industrial Electronics,2014,61(7):3519-3526. DOI: 10.1109/TIE.2013.2278953.
[6] LONG L,ZHAO J. H_∞ control of switched nonlinear systems in,p-Normal form using multiple Lyapunov functions[J]. IEEE Transactions on Automatic Control,2012,57(5):1285-1291. DOI: 10.1109/TAC.2012.2191835.
[7] MA R,ZHAO J. Backstepping design for global stabilization of switched nonlinear systems in lower triangular form under arbitrary switchings [J]. Automatica,2010,46(11):1819-1823. DOI: 10.1016/j.automatica.2010.06.050.
[8] XIAN B,DE QUEIROZ M S,DAWSON D,et al. Task-space tracking control of robot manipulators via quaternion feedback[J]. IEEE Transactions on Robotics & Automation,2004,20(1):160-167. DOI: 10.1109/TRA.2003.820932.
[9] PARRA-VEGA V,ARIMOTO S,LIU Y H,et al. Dynamic sliding PID control for tracking of robot manipulators: theory and experiments[J]. IEEE Transactions on Robotics & Automation,2003,19(6):967-976. DOI: 10.1109/TRA.2003.819600.
[10] PARK S H,HAN S I. Robust-tracking control for robot manipulator with deadzone and friction using backstepping and RFNN controller[J]. Iet Control Theory & Applications,2011,5(5):1397-1417. DOI: 10.1049/iet-cta.2010.0460.
[11] WANG X,ZHAO J. H_∞ switched adaptive control for a class of robot manipulators[J].Transactions of the institute of measurement and control,2014,36(3):347-353. DOI: 10.1177/0142331213503362.
[12] ZHANG L,SHI P. Stability,L2 -Gain and Asynchronous H∞,control of discrete-time switched systems with average dwell time[J]. IEEE Transactions on Automatic Control,2009,54(9):2192-2199. DOI: 10.1109/TAC.2009.2026841.
[13] XIANG Z R,WANG R H. Robust control for uncertain switched non-linear systems with time delay under asynchronous switching[J]. Iet Control Theory & Applications,2009,3(8):1041-1050. DOI: 10.1049/iet-cta.2008.0150.
[14] ZHANG L,CUI N,LIU M,et al. Asynchronous filtering of discrete-time switched linear systems with average dwell time[J]. IEEE Transactions on Circuits & Systems I Regular Papers,2011,58(5):1109-1118. DOI: 10.1109/TCSI.2010.2092151.
[15] WABG Y E,ZHAO J,JIANG B. Stabilization of a class of switched linear neutral systems under asynchronous switching[J]. IEEE Transactions on Automatic Control,2013,58(8):2114-2119. DOI: 10.1109/TAC.2013.2250076.
[16] LIU T,HILL D J,WANG C. Dissipativity-based switching adaptive control[J]. IEEE Transactions on Automatic Control,2011,56(3):660-665. DOI: 10.1109/CDC.2009.5400120.
[17] 申铁龙. 机器人鲁棒控制基础[M]. 北京:清华大学出版社,2000.
[18] 刘金琨. 机器人控制系统的设计与MATLAB仿真[M].北京: 清华大学出版社,2008.
[19] LIBERZON D. Switching in Systems and Control[M].Boston:Birkhäuser Boston,2003.

Switching tracking controller selection for robot manipulators with unknown shifting load

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 1

Recommended Articles

Metrics

Comments