Contouring Control Consensus for Robot Manipulators

Ruishuang Chen*, Kelin Li, Sudchai Boonto, Thanana Nuchkrua

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

By means of contouring error control (CEC), the dynamics of robot is transformed into dynamic errors problem consensus with equivalent errors (EQs) in which such error dynamics is linearized around equilibrium point. However, it yields only locally asymptotical stability with invariant set of parameters in such dynamics. To reach consensus on asymptotically stability, globally, the feedback linearization associated with the set value of uncertainty is considered to enlarge an attractive region. The on-line self tuning proportional+derivative (PD) parameters by means of fuzzy membership function optimized by robust extended Kalman filter (REKF) is proposed to address the problem of the globally asymptotical stability of the dynamics of the robots under unpredictable environments. It could automatically determine on-line equilibrium point with such attractive region according to different processes without knowing a prior. The experiment results reveal that it yields the excellent performance under time-varying uncertainty. Moreover, theoretically, we explicitly derive globally asymptotical stability of the closed-loop system where attractive region is enlarged by REKF.

Original languageEnglish
Title of host publication2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages443-448
Number of pages6
ISBN (Electronic)9784907764678
DOIs
StatePublished - Sep 2019
Externally publishedYes
Event58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019 - Hiroshima, Japan
Duration: 10 Sep 201913 Sep 2019

Publication series

Name2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019

Conference

Conference58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019
CountryJapan
CityHiroshima
Period10/09/1913/09/19

Keywords

  • PD control
  • Robot manipulators

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