Neuro-Sliding Mode Endpoint Control of Flexible-link Manipulators
ZHANG Yu1, YANG Tang-wen2, SUN Zeng-qi1
1. State Key Laboratory of Intelligent Technology and Systems, Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China; 2. School of Computer and Information Technology, Beijing Jiaotong University, Beijing 100044, China
Abstract:To improve the robustness and position precision of endpoint control of flexible-link manipulators(FLMs), a control strategy based on neuro-sliding mode(NSM)is proposed.Firstly,the dynamics model is partially linearized by input-output linearization method,so it is separated into two subsystems of input-output subsystem and internal dynamics subsystem.An NSM controller is designed to control the input-output subsystem while a states feedback controller is employed to stabilize the internal dynamics subsystem.Then,stability of the internal dynamics is analyzed,and satisfactory results are obtained in the simulation of controlling a 2DOF FLM.The results indicate that the presented method improves the robustness and position precision of the FLM system when model uncertainty is considered.
[1] Wangw J,Lu S S,Hsu C F.Experiments on the position control of a one-link flexible robot arm[J].IEEE Transactions on Robotics and Automation,1989,5(3):373~377.
[2] Yang J H,Lian F L,Fu L C.Adaptive robust control for flexible manipulators[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE.19915.1223~1228.
[3] Caracciolo R,Richiedei D,Tmvisani A,et al.Robust mixednorm position and vibration control of flexible link mechanisms[J].Mechatronics,2005,15(7):767~791.
[4] Etxebarria V,Sanz A,Lizarraga I.Control of a lightweight flexible robotic arm using sliding modes[J].International Journal of Advanced Robotic Systems,2005,2(2):103~110.
[5] Moallem M,Patel R V,Khorasani K.Rexible-fink Robot Manipulators(Control Techniques and Strctutal Design)[M].London,UK:Springer-Verlag,2000.
[6] Arisoy A,Gokasan M,Bogosyan O S.Partial feedback linearizationcontrol of a single flexible link robot manipulator[A].Proceedings of the 2rid International Conference on Recent Advaiices in Space Technologies[C].Piscataway,NJ,USA:IEEE,2005.282~287.
[7] Ertugrul M,Kaynak O.Neuro sliding mode control of robotic manipulators[J].Mechatronics,2000,10(1-2):239~263.
[8] De Luca A,Siciliano B.Closed-form dynamic model of planar multilink lightweight robots[J].IEEE Transactions on Systems.Man and Cybernetics,1991,21(4):826~839.
[9] Talebi H A,Patel R V,Khorasani K.Control of Flexible-Link Manipulators Using Neural Networks[M].Berlin,Germany:Spnnger,2001.
[10] Arisoy A,Goknsan M,Bogosyan O S.Sliding mode based position control of a flexible-link arm[A].Proceedings of the 12th International Power Electronics and Motion Control Conference[C].Piscataway,NJ,USA:IEEE,2006.402~407.
[11] Slotine J J,Li W P.Applied Nonlinear Control[M].New Jersey,USA:Prentice Hall.1990.
[12] Hung J Y,Gao W,Hung J C.Variable structure control:A survey[J].IEEE Transactions on Industrial Electronics,1993,40(1):2~22.