IDEAS home Printed from https://ideas.repec.org/a/hin/complx/9927850.html
   My bibliography  Save this article

Discrete-Time Sliding Mode Control Coupled with Asynchronous Sensor Fusion for Rigid-Link Flexible-Joint Manipulators

Author

Listed:
  • Guangyue Xue
  • Xuemei Ren
  • Kexin Xing
  • Qiang Chen
  • Xue-bo Jin

Abstract

This paper proposes a novel discrete-time terminal sliding mode controller (DTSMC) coupled with an asynchronous multirate sensor fusion estimator for rigid-link flexible-joint (RLFJ) manipulator tracking control. A camera is employed as external sensors to observe the RLFJ manipulator’s state which cannot be directly obtained from the encoders since gear mechanisms or flexible joints exist. The extended Kalman filter- (EKF-) based asynchronous multirate sensor fusion method deals with the slow sampling rate and the latency of camera by using motor encoders to cover the missing information between two visual samples. In the proposed control scheme, a novel sliding mode surface is presented by taking advantage of both the estimation error and tracking error. It is proved that the proposed controller achieves convergence results for tracking control in the theoretical derivation. Simulation and experimental studies are included to validate the effectiveness of the proposed approach.

Suggested Citation

  • Guangyue Xue & Xuemei Ren & Kexin Xing & Qiang Chen & Xue-bo Jin, 2021. "Discrete-Time Sliding Mode Control Coupled with Asynchronous Sensor Fusion for Rigid-Link Flexible-Joint Manipulators," Complexity, Hindawi, vol. 2021, pages 1-12, July.
    • Handle: RePEc:hin:complx:9927850
    DOI: 10.1155/2021/9927850
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/complexity/2021/9927850.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/complexity/2021/9927850.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2021/9927850?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:complx:9927850. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.