Torque sensorless force/position decentralized control for constrained reconfigurable manipulator with harmonic drive transmission

The difficulty of addressing the decentralized control problem for a torque sensorless constrained reconfigurable manipulator is associated with decentralized control of the constraint force. This paper studies the force/position decentralized robust control problem for constrained reconfigurable ma...

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Bibliographic Details
Published inInternational journal of control, automation, and systems Vol. 15; no. 5; pp. 2364 - 2375
Main Authors Zhou, Fan, Dong, Bo, Li, Yuanchun
Format Journal Article
LanguageEnglish
Published Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.10.2017
Springer Nature B.V
제어·로봇·시스템학회
Subjects
Basis functions
Computer simulation
Control
Control stability
Control systems
Decentralized control
Dynamic stability
Engineering
Feedback control
Manipulators
Mathematical analysis
Matrix methods
Mechatronics
Neural networks
Output feedback
Perturbation methods
Position measurement
Position sensing
Product design
Radial basis function
Regular Papers
Robot arms
Robotics
Robust control
Torque
제어계측공학
linear matrix inequality (LMI)
Constrained reconfigurable manipulator
dynamic output feedback
force/position decentralized control
harmonic drive
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Summary:The difficulty of addressing the decentralized control problem for a torque sensorless constrained reconfigurable manipulator is associated with decentralized control of the constraint force. This paper studies the force/position decentralized robust control problem for constrained reconfigurable manipulator system with parameter perturbation and unmodeled dynamics. A joint torque estimation scheme based on the motor-side and link-side position measurements along with harmonic drive model is deployed for each joint module. Subsequently, radial basis function (RBF) neural network is applied to compensate the unmodeled dynamics and unknown terms of subsystem, simultaneously. Furthermore, a decentralized force/position robust controller is designed by combining the estimated joint torque with the dynamic output feedback control method. The stability of closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, simulations are performed to verify the advantage of the proposed method.
Bibliography:http://link.springer.com/article/10.1007/s12555-016-0248-7
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-016-0248-7