DOI QR코드

DOI QR Code

A Robust Adaptive Friction Control of Robot Manipulators using Sliding Surface

슬라이딩 표면을 이용한 로봇 매니퓰레이터의 강건한 적응 마찰 제어

  • Received : 2011.09.16
  • Accepted : 2009.10.15
  • Published : 2011.11.01

Abstract

In this paper, a robust adaptive controller is proposed for trajectory tracking of robot manipulators with the unknown friction coefficient and bounded disturbance. A new adaptive control law is developed based on sliding mode and derived from the Lyapunov stability analysis. The introduction of a boundary layer solves the problem of chattering. The proposed adaptive controller is globally asymptotically stable and guarantees zero steady state error for joint positions. The estimated friction coefficients can also approach the actual coefficients asymptotically. A simulation example is provided to demonstrate the performance of the proposed algorithm.

Keywords

Robust adaptive friction control scheme;Sliding surface;Adaptive update law;Lyapunov function;Chattering elimination

References

  1. Q.H.Xia, S.Y.Lim, M.H.Ang and T.M.Lim,"Adaptive Joint Friction Compensation Using a Model-Based Operational Space Velocity Observer," " in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3081-3086, 2004.
  2. J.S.Chen and J.C.Juang,"A Robust Friction Control Scheme of Robot Manipulators," in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3266-3271, 2003.
  3. B.Friedland and Y.J.park," On Adaptive Friction Compensation," IEEE Tran. on Automatic Control vol. 37, no. 10, pp.1609-1612, 1992. https://doi.org/10.1109/9.256395
  4. C.H.Lee and J.J.Lee,"Adaptive Control of Robot Manipulators Using Multiple Neural Networks," in Proc. IEEE Int. Conf. on Robotics and Automation, pp.1074-1079, 2003.
  5. S.Li,"Nonlinear $H_{\infty}$ Controller Design for a Class of Nonlinear Control System," 23rd Int. Conf. on Industrial Electronic, Control and Instrumentation, pp. 291-294, 1999.
  6. L.Acho, Y.Orlov and L.Aguilar,"Global $H_{\infty}$ ontrol Design for Tracking Control of Robot Manipulators," Proc. of the American Control Conference, pp.3986-3990, 2002.
  7. Y.L.Zhu and P.R.Pagilla,"Static dynamic friction compensation in trajectory tracking control of robot,' in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2644-2649, 2002.
  8. P.Tomei,"Robust adaptive friction compensation for tracking control of robot manipulators," IEEE Tran. on Automatic Control vol. 45, no. 11, pp.2164-2169, 2000. https://doi.org/10.1109/9.887661
  9. S.W.Wijesoma and R.J.Richards,"Robust trajectory following of robots using computed torque structure with VSS", Int. Jour. Control, vol. 52, no. 4, pp. 935-962, 1990. https://doi.org/10.1080/00207179008953575
  10. T.P.Leung, Q.J.Zhou and C.Y.Su,"An adaptive variable structure model following control design for robot manipulators," IEEE Tran. on Automatic Control vol. 36, pp. 347-353, 1991. https://doi.org/10.1109/9.73569
  11. C.Y.Su and Y.Stepanenko," Adaptive Sliding Mode Control of Robot Manipulators with General Sliding Manifold", Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, pp. 1255-1259, 1993.
  12. J.J.E.Slotine and S.S.Sastry,"Tracking control of nonlinear system using sliding surfaces, with applications to robot manipulator", Int. Jour. Control, vol. 38, pp. 465-492, 1983. https://doi.org/10.1080/00207178308933088
  13. J.J.E.Slotine,"Sliding controller design for nonlinear system", Int. Jour. Control, vol. 40, pp. 421-434, 1984. https://doi.org/10.1080/00207178408933284
  14. J.J.E.Slotine and W. Li," On the adaptive control of robot manipulators," The International Journal of Robotics Research, vol. 6, no.3, pp. 49-59, 1987. https://doi.org/10.1177/027836498700600303
  15. Z.Qijie and S.Chuny,"An adaptive sliding mode control scheme for robot manipulators", Int. Jour. Control, vol. 57, no. 2, pp. 261-271, 1993. https://doi.org/10.1080/00207179308934387