دانشگاه تربیت دبیر شهید رجائی

  اخبار و اعلانات

 آمار

تعداد نشریات13
تعداد شماره‌ها200
تعداد مقالات2,008
تعداد مشاهده مقاله2,679,706
تعداد دریافت فایل اصل مقاله1,936,982
Hooshmand, H., Fateh, M.. (1400). Voltage Control of Flexible-Joint Robot Manipulators using Singular Perturbation Technique for Model Order Reduction. فناوری آموزش, 10(1), 123-142. doi: 10.22061/jecei.2021.7727.424
H. Hooshmand; M. M. Fateh. "Voltage Control of Flexible-Joint Robot Manipulators using Singular Perturbation Technique for Model Order Reduction". فناوری آموزش, 10, 1, 1400, 123-142. doi: 10.22061/jecei.2021.7727.424
Hooshmand, H., Fateh, M.. (1400). 'Voltage Control of Flexible-Joint Robot Manipulators using Singular Perturbation Technique for Model Order Reduction', فناوری آموزش, 10(1), pp. 123-142. doi: 10.22061/jecei.2021.7727.424
Hooshmand, H., Fateh, M.. Voltage Control of Flexible-Joint Robot Manipulators using Singular Perturbation Technique for Model Order Reduction. فناوری آموزش, 1400; 10(1): 123-142. doi: 10.22061/jecei.2021.7727.424

Voltage Control of Flexible-Joint Robot Manipulators using Singular Perturbation Technique for Model Order Reduction

Journal of Electrical and Computer Engineering Innovations (JECEI)
مقاله 11، دوره 10، شماره 1، فروردین 2022، صفحه 123-142    اصل مقاله (3.16 M)
نوع مقاله: Original Research Paper
شناسه دیجیتال (DOI): 10.22061/jecei.2021.7727.424
نویسندگان
H. Hooshmand* ؛ M. M. Fateh
Department of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood, Iran
تاریخ دریافت: 04 فروردین 1400،  تاریخ بازنگری: 21 اردیبهشت 1400،  تاریخ پذیرش: 27 خرداد 1400 
چکیده
Background and Objectives: Robot manipulator with flexible-joints is very complex nonlinear system whose control is one of the most challenging issues in the control word. Therefore, the design of voltage-based controller in addition, using of order reduction methods can reduce the complexity of the control law in such systems.
Methods: This paper proposes a voltage controller for flexible-joint robot manipulators based on singular perturbation method. The presented control approach has all three advantages of the singular perturbation method for model order reduction, the proper structure of Port-Hamiltonian systems, and voltage control strategy (VCS). In this approach, the robot manipulator model is divided into three sub-systems, slow, medium and fast sub-systems. Each of the sub-systems is controlled using separate controller. In addition, the stability of these sub-systems and ultimately the whole system are proved. Unlike other related works, in this work the tracking error system is considered from the beginning, and by singular perturbation method, a controller is designed to stabilize the tracking system. Moreover, in the suggested voltage-based controller unlike torque control strategy, the electrical model of actuators is used.
Results: The main advantages of proposed approach are simple structure, using only velocity of motors, the position of the joints as a control signal and considering the electrical model of the actuators. So, practical implementation of this controller will be with much less effort, compared to the methods like feedback linearization or other controllers in related works. Moreover, using the Lyapunov-based method, the ultimate bounded stability of the closed loop system is proved. Then, some simulations are provided for tracking, regulation, robustness and response speed purposes.
Conclusion: Since, the controllers for every sub-system are designed separately, also, the control signal parameters such as joints position, motors velocity, and motors current can be simply measured, therefore, the structure of designed controller is very simple and practically implementable. As the simulation results confirm, the performance of this controller is appropriate, even when external disturbances are present or the frequency of reference signal increases. At last, by comparison and analysis of the simulation results between the presented approach and a related work, the suitable tracking performance of the suggested controller is shown.
کلیدواژه‌ها
Electrically Driven Robot Manipulator؛ Flexible-Joint Robot Control؛ Voltage-based Control؛ Singular Perturbation Method
مراجع
[1] P. Tomei, "A simple PD controller for robots with elastic joints," IEEE Trans. Autom. Control, 36(10): 1208-1213, 1991.

[2] A. De Luca, B. Siciliano, L. Zollo, "PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments," Automatica, 41(10):  1809-1819, 2005.

[3] H. A. Malki, D. Misir, D. Feigenspan, G. Chen, "Fuzzy PID control of a flexible-joint robot arm with uncertainties from time-varying loads," IEEE Trans. Control Syst. Technol., 5(3): 371-378, 1997.

[4] W. Tang, G. Chen, R. Lu, "A modified fuzzy PI controller for a flexible-joint robot arm with uncertainties," Fuzzy Sets Syst., 118(1): 109-119, 2001.

[5] M.C. Chien, A.C. Huang, "Adaptive control for flexible-joint electrically driven robot with time-varying uncertainties," IEEE Trans. Ind. Electron., 54(2): 1032-1038, 2007.

[6] S. Ulrich, J. Z. Sasiadek, I. Barkana, "Modeling and direct adaptive control of a flexible-joint manipulator," J. Guid. Contr. Dyn., 35(1): 25-39, 2012.

[7] J.C. Cambera, V. Feliu-Batlle, "Input-state feedback linearization control of a single-link flexible robot arm moving under gravity and joint friction," Rob. Auton. Syst., 88(C): 24-36, 2017.

[8] M.M. Fateh, "Robust control of flexible-joint robots using voltage control strategy," Nonlinear Dyn., 67: 1525-1537, 2012.

[9] M.M. Zirkohi, M.M. Fateh, M.A. Shoorehdeli, "Type-2 fuzzy control for a flexible-joint robot using voltage control strategy," Int. J. Autom. Comput., 10: 242-255, 2013.

[10] P. Kokotovic, H.K. Khali, J. O'reilly, Singular perturbation methods in control: analysis and design, vol. 25, Siam, 1999.

[11] F. Ghorbel, M.W. Spong, "Integral manifolds of singularly perturbed systems with application to rigid-link flexible-joint multibody systems," Int. J. Non Linear Mech., 35(1): 133-155, 2000.

[12] J.Kim, E.A. Croft, "Full-state tracking control for flexible joint robots with singular perturbation techniques," IEEE Trans. Control Syst. Technol., 27(1):  63-73, 2019.

[13] A. Loria, R. Ortega, "On tracking control of rigid and flexible joints robots," Appl. Math. Comput. Sci, 5(2): 329-341, 1995.

[14] X. Cheng, H. Liu, "Bounded decoupling control for flexible-joint robot manipulators with state estimation," IET Control Theory Appl., 14(16): 2348-2358, 2020.

[15] A. Elghoul, A. Tellili, M.N. Abdelkrim, "Reconfigurable control of flexible-joint robot with actuator fault and uncertainty," J. Electr. Eng., 70(2): 130-137, 2019.

[16] T. Sun, X. Zhang, H. Yang, Y. Pan, "Singular perturbation-based saturated adaptive control for underactuated Euler–Lagrange systems," ISA trans., 2021. 

[17] M. Hong, W. Yao, Z. Zhu, Y. Guo, "A Hybrid PID Controller for Flexible-joint Manipulator Based on State Observer and Singular Perturbation Approach," in Proc. 39th Chinese Control Conference (CCC): 3599-3603, 2020.

[18] J. Zhu, J. Zhang, J. Zhu, L. Zeng, Y. Pi, "A composite controller for manipulator with flexible-joint and link under uncertainties and disturbances," J. Vib. Control, 2021.

[19] H. Chen, X. Dong, Y. Yang, J. Liu, "Backstepping sliding mode control of uncertainty flexible-joint manipulator with actuator saturation," J. Phys.: Conf. Ser., 1828: 1-12, 2021.

[20] A.J. van der Schaft, L2-gain and passivity techniques in nonlinear control, vol. 2, Springer, 2017.

[21] R. Ortega, J.A. L. Perez, P.J. Nicklasson, H. Sira-Ramirez, Passivity-based control of Euler-Lagrange systems, Springer-Verlag London, 1998.

[22] C. Schindlbeck, S. Haddadin, "Unified passivity-based cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks," in Proc. 2015 IEEE International Conference on Robotics and Automation (ICRA):  440-447, 2015.

[23] H. Chenarani, M.M. Fateh, "Robust Passivity-Based Voltage Control of Robot Manipulators," J. Electr. Comput. Eng. Innovations, 7(2): 145-154, 2019.

[24] H. Jardón-Kojakhmetov, M. Muñoz-Arias, J. M.A. Scherpen, "Model reduction of a flexible-joint robot: a port-Hamiltonian approach," IFAC-PapersOnLine, 49(18): 832-837, 2016.

آمار
تعداد مشاهده مقاله: 543
تعداد دریافت فایل اصل مقاله: 386


سامانه مدیریت نشریات علمی. قدرت گرفته از سیناوب