吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (01): 267-272.

Previous Articles    

Distributed parameter control for system of manipulator handling a flexible payload based on coupled sliding surface

LIU Shu-yang1, LIU Ke-ping2, LI Yuan-chun1,2   

  1. 1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China;
    2. Department of Control Engineering, Changchun University of Technology, Changchun 130012, China
  • Received:2012-02-09 Online:2013-01-01 Published:2013-01-01

PDF (PC)

346

Abstract: An adaptive sliding mode control method is proposed for the multivariable rigid-flexible coupling system of manipulator handling a flexible payload. The position control and vibration suppression are conducted under the system with parameter uncertain and unknown disturbance. The dynamic behavior of the system is described by a distributed parameter model in terms of partial differential equation, which avoids the drawback of the lumped parameter model. The adaptive sliding mode controller is designed based on the energy dynamics of the flexible payload. The sliding surface is selected as the coupling of the joint angle error and angular velocity error with the root strain and shear force of the flexible payload. The asymptotic stability of the closed-loop system is proved using the LaSalle invariance principle. Simulation results demonstrate the effectiveness of the proposed method.

Key words: automatic control technology, distributed parameter model, coupled sliding surface, adaptive sliding mode control, LaSalle&rsquo, s invariance principle, asymptotic stability

CLC Number: 

  • TP273
[1] Al Yahmadi Amer S, Hsia T C. Modeling and control of two manipulators handling a flexible object[J]. Journal of the Franklin Institute,2007,44:349-361.

[2] 张鹏,李元春. 基于铰链结构的机械臂操作柔性负载的系统建模与控制[J]. 吉林大学学报:工学版,2008,38(2):444-448. Zhang Peng,Li Yuan-chun. Modeling and control for the system of two manipulators in handling flexible payload based on hinge configuration[J]. Journal of Jilin University (Engineering and Technology Edition) 2008,38(2):444-448.

[3] Hirofumi N, Kosei K, Kosei K. Study of deformation and insertion tasks of a flexible wire//IEEE International Conference on Robotics and Automation,New York: IEEE Press, 1997: 2397-2402.

[4] 唐志国,李元春,刘木林. 机械臂协调操作柔性负载鲁棒神经网络控制[J]. 浙江大学学报:工学版,2010,44(7):1394-1399. Tang Zhi-guo,Li Yuan-chun,Liu Mu-lin. Robust neural network control of dual-manipulator cooperative system handling flexible payload[J]. Journal of Zhejiang University(Engineering Science) 2010,44(7): 1394-1399.

[5] Sun Dong, Liu Yun-hui. Position and force tracking of a two-manipulator system manipulating a flexible beam[J]. Journal of Robotic Systems, 2001, 18(4):197-212.

[6] Endo K, Matsuno F, Kawasaki H. Simple boundary cooperative control of two one-link flexible arms for grasping[J]. IEEE Transacrions on Automatic Control,2009,54(10):2470-2476.

[7] Ge S S,Lee T H,Zhu G,et al. Variable structure control of a distributed parameter flexible beam[J]. Journal of Robotic Systems,2001,18(1): 17-27.

[8] Luo Zheng-hua, Guo Bao-zhu. Nonlinear torque control of a single-link flexible robot[J]. Journal of Robotic Systems,1999,16(1):25-35.

[9] Liu Shu-yang, Wang Zhi-qian, Qiao Yan-feng, et al. An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload//The 10th World Congress on Intelligent Control and Automation, 2012:3617-3622.

[10] Vidyasagar M. Nonlinear Systems Analysis[M]. Englewood,Cliffs: Prentice Hall,1978.

[11] Luo Zheng-hua, Guo Bao-zhu, Omer Morgul. Stability and Stabilization of Infinite Dimensional Systems with Applications[M].Beilin:Springer, 1999.
[1] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H∞ performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[2] LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.
[3] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[4] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[5] TIAN Yan-tao, ZHANG Yu, WANG Xiao-yu, CHEN Hua. Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm [J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[6] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[7] WANG Lin, WANG Hong-guang, SONG Yi-feng, PAN Xin-an, ZHANG Hong-zhi. Behavior planning of a suspension insulator cleaning robot for power transmission lines [J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[8] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[9] ZHU Feng, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, ZHANG Shi-tao. Gyro signal processing based on strong tracking Kalman filter [J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
[10] JIN Chao-qiong, ZHANG Bao, LI Xian-tao, SHEN Shuai, ZHU Feng. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer [J]. 吉林大学学报(工学版), 2017, 47(6): 1876-1885.
[11] FENG Jian-xin. Recursive robust filtering for uncertain systems with delayed measurements [J]. 吉林大学学报(工学版), 2017, 47(5): 1561-1567.
[12] SHAO Ke-yong, CHEN Feng, WANG Ting-ting, WANG Ji-chi, ZHOU Li-peng. Full state based adaptive control of fractional order chaotic system without equilibrium point [J]. 吉林大学学报(工学版), 2017, 47(4): 1225-1230.
[13] XU Jin-kai, WANG Yu-tian, ZHANG Shi-zhong. Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy [J]. 吉林大学学报(工学版), 2017, 47(4): 1138-1143.
[14] HU Yun-feng, GU Wan-li, LIANG Yu, DU Le, YU Shu-you, CHEN Hong. Start-stop control of hybrid vehicle based on nonlinear method [J]. 吉林大学学报(工学版), 2017, 47(4): 1207-1216.
[15] SHEN Shuai, ZHANG Bao, LI Xian-tao, ZHU Feng, JIN Chao-qiong. Acceleration feedback control based on tracking differentiator [J]. 吉林大学学报(工学版), 2017, 47(4): 1217-1224.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd