吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (02): 466-471.

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Decentralized backstepping control for reconfigurable modular robots based on ESO and DSC

DU Yan-li1,2, TANG Zhi-guo1, LI Yuan-chun1,3   

  1. 1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China;
    2. College of Electrical Information Engineering, Beihua University, Jilin 132021, China;
    3. Department of Control Engineering, Changchun University of Technology, Changchun 130012, China
  • Received:2011-10-31 Online:2013-03-01 Published:2013-03-01

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Abstract: A decentralized backstepping controller based on third-order Extension State Observer (ESO) and Dynamic Surface Control (DSC) for reconfigurable modular robots with interconnection terms is presented. The coupling interconnection terms of the joints and modeling uncertainties are estimated and compensated in real-time using third-order ESOs, in which parameters are adjusted adaptively using Particle Swarm Optimization (PSO) algorithm. Based on DSC, the decentralized backstepping controller is used to overcome the problem of "explosion terms" caused by differential coefficient calculation. The stability of the controller is analyzed by Lyapunov theory. The controller is applied to the trajectory tracking control of a 4-DOF reconfigurable modular robot. Simulation results verify the validity of the presented controller in dealing with the coupling interconnection terms and solving the problem of "explosion terms" in backstepping control.

Key words: automatic control technology, reconfigurable modular robots, decentralized control, backstepping control

CLC Number: 

  • TP24
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