Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems

Computed torque control is an effective control scheme for trajectory tracking of robotic manipulators. However, computed torque control requires precise dynamic models of robotic manipulators and is severely affected by uncertain dynamics. Thus, a new scheme that combines a computed torque control...

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Main Authors:	Chao Chen, Chengrui Zhang, Tianliang Hu, Hepeng Ni, WeiChao Luo
Format:	Article
Language:	English
Published:	SAGE Publishing 2018-09-01
Series:	International Journal of Advanced Robotic Systems
Online Access:	https://doi.org/10.1177/1729881418801738

id	doaj-80d03ded4fe24bf480c09b6e2954afd2
record_format	Article
spelling	doaj-80d03ded4fe24bf480c09b6e2954afd22020-11-25T03:06:42ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142018-09-011510.1177/1729881418801738Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systemsChao Chen0Chengrui Zhang1Tianliang Hu2Hepeng Ni3WeiChao Luo4 National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People’s Republic of China National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People’s Republic of China National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People’s Republic of China National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People’s Republic of China National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People’s Republic of ChinaComputed torque control is an effective control scheme for trajectory tracking of robotic manipulators. However, computed torque control requires precise dynamic models of robotic manipulators and is severely affected by uncertain dynamics. Thus, a new scheme that combines a computed torque control and a novel model-assisted extended state observer is developed for the robust tracking control of robotic manipulators subject to structured and unstructured uncertainties to overcome the disadvantages of computed torque control and exploit its merits. The model-assisted extended state observer is designed to estimate and compensate these uncertain dynamics as a lumped disturbance online, which further improves the disturbance rejection property of a robotic system. Global uniform ultimate boundedness stability with an exponential convergence of a closed-loop system is verified through Lyapunov method. Simulations are performed on a two degree-of-freedom manipulator to verify the effectiveness and superiority of the proposed controller.https://doi.org/10.1177/1729881418801738
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Chao Chen Chengrui Zhang Tianliang Hu Hepeng Ni WeiChao Luo
spellingShingle	Chao Chen Chengrui Zhang Tianliang Hu Hepeng Ni WeiChao Luo Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems International Journal of Advanced Robotic Systems
author_facet	Chao Chen Chengrui Zhang Tianliang Hu Hepeng Ni WeiChao Luo
author_sort	Chao Chen
title	Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems
title_short	Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems
title_full	Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems
title_fullStr	Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems
title_full_unstemmed	Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems
title_sort	model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems
publisher	SAGE Publishing
series	International Journal of Advanced Robotic Systems
issn	1729-8814
publishDate	2018-09-01
description	Computed torque control is an effective control scheme for trajectory tracking of robotic manipulators. However, computed torque control requires precise dynamic models of robotic manipulators and is severely affected by uncertain dynamics. Thus, a new scheme that combines a computed torque control and a novel model-assisted extended state observer is developed for the robust tracking control of robotic manipulators subject to structured and unstructured uncertainties to overcome the disadvantages of computed torque control and exploit its merits. The model-assisted extended state observer is designed to estimate and compensate these uncertain dynamics as a lumped disturbance online, which further improves the disturbance rejection property of a robotic system. Global uniform ultimate boundedness stability with an exponential convergence of a closed-loop system is verified through Lyapunov method. Simulations are performed on a two degree-of-freedom manipulator to verify the effectiveness and superiority of the proposed controller.
url	https://doi.org/10.1177/1729881418801738
work_keys_str_mv	AT chaochen modelassistedextendedstateobserverbasedcomputedtorquecontrolfortrajectorytrackingofuncertainroboticmanipulatorsystems AT chengruizhang modelassistedextendedstateobserverbasedcomputedtorquecontrolfortrajectorytrackingofuncertainroboticmanipulatorsystems AT tianlianghu modelassistedextendedstateobserverbasedcomputedtorquecontrolfortrajectorytrackingofuncertainroboticmanipulatorsystems AT hepengni modelassistedextendedstateobserverbasedcomputedtorquecontrolfortrajectorytrackingofuncertainroboticmanipulatorsystems AT weichaoluo modelassistedextendedstateobserverbasedcomputedtorquecontrolfortrajectorytrackingofuncertainroboticmanipulatorsystems
_version_	1724672991101452288

Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems

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