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Shifting asymmetric time-varying BLF-based model-free hybrid force/position control for 3-DOF SEA-based manipulator with random initial error

Author

Listed:
  • Wei, Yangchun
  • Wang, Haoping
  • Tian, Yang

Abstract

In this work, a shifting asymmetric time-varying barrier Lyapunov function (BLF)-based model-free hybrid force/position controller (SABMHC) is proposed for the endpoint of the 3-DOF series elastic actuator (SEA)-based manipulator which can be used for machining of large curved surfaces. The proposed SABMHC contains a force sub-control loop and a position sub-control loop. The force sub-control loop converts the force control into position control based on the idea of impedance control, and realizes the hybrid force/position control through the position sub-control. Then, in order to achieve accurate trajectory tracking control of the position sub-control loop, a shifting asymmetric time-varying BLF-based model-free controller is proposed, which includes the error shifting function, asymmetric time varying BLF, time-delay estimation (TDE) technique, and adaptive compensation term. To prevent the random initial error from being so large that it exceeds the pre-set boundary and affects the steady-state response, an error shifting function is introduced. The error shifting function can make the shifting error independent of the tracking error before reaching the pre-set shifting time, so as to achieve better control performance by setting a small pre-set boundary for the shifting error. With the Lyapunov function, the designed SABMHC can ensure that the stability and the shifting error converges within the pre-set boundary in a finite time. Finally, the effectiveness and benefits of the proposed SABMHC are analyzed by comparison with the TDE-based intelligent PID (TDE-iPD) and BLF-based sliding-mode controller (BLF-SMC).

Suggested Citation

  • Wei, Yangchun & Wang, Haoping & Tian, Yang, 2024. "Shifting asymmetric time-varying BLF-based model-free hybrid force/position control for 3-DOF SEA-based manipulator with random initial error," Applied Mathematics and Computation, Elsevier, vol. 463(C).
  • Handle: RePEc:eee:apmaco:v:463:y:2024:i:c:s0096300323005325
    DOI: 10.1016/j.amc.2023.128363
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    References listed on IDEAS

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    1. Shi, Shang & Min, Huifang & Hu, Yinlong & Sun, Yonghui & Wang, Bing, 2020. "A novel hybrid scheme for fixed-time SOSM control of nonlinear uncertain systems subject to mismatched terms," Applied Mathematics and Computation, Elsevier, vol. 386(C).
    2. Yong Nie & Jiajia Liu & Gang Liu & Litong Lyu & Jie Li & Zheng Chen, 2022. "Force Tracking Impedance Control of Hydraulic Series Elastic Actuators Interacting with Unknown Environment," Mathematics, MDPI, vol. 10(18), pages 1-15, September.
    3. Ding, Chen & Ma, Li & Ding, Shihong, 2021. "Second-order sliding mode controller design with mismatched term and time-varying output constraint," Applied Mathematics and Computation, Elsevier, vol. 407(C).
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