Discrete-time sliding mode control coupled with asynchronous sensor fusion for rigid-link flexible-joint manipulators

Guangyue Xue,Qiang Chen,Kexin Xing,Xuemei Ren

doi:10.1109/icca.2013.6564939

Abstract

This paper proposes a discrete-time sliding mode controller coupled with an asynchronous multi-rate sensor fusion estimator which estimates the state of a rigid-link flexible-joint manipulator with visual sensing. In the multiple sensors robotic system, the fusion estimate method deals with the slow sampling rate and the latency of vision sensors by using motor encoders to cover the missing information between two visual samples. The discrete-time sliding mode uses the state estimation from fusion estimator which unique modifications simplify the design of the controller. The effectiveness of the proposed controller is illustrated by a computer simulation.

Highlights

In many high-performance robotic manipulator applications, positioning of the end effector is critical as the ultimate goal is to track the desired trajectory
extended Kalman filter- (EKF-)based sensor fusion was presented by JassemiZargani and Necsulescu [9] to estimate the acceleration for operational space control of a robotic manipulator
(i) We propose a novel tracking control scheme, AMSFE-discrete-time terminal sliding mode controller (DTSMC), which is based on the DTSMC

Summary

Introduction

In many high-performance robotic manipulator applications, positioning of the end effector (or/and links) is critical as the ultimate goal is to track the desired trajectory. EKF-based sensor fusion was presented by JassemiZargani and Necsulescu [9] to estimate the acceleration for operational space control of a robotic manipulator. These reported EKF-based control methods do not discuss the case of asynchronous measurements from multirate sensors for RLFJ manipulators. The flexibilities of joints are not involved in those controller designs To remedy such limitations, the paper proposes a novel controller, AMSFE-DTSMC, which is implemented based on DTSMC coupled with an asynchronous multirate sensor fusion estimator. (i) We propose a novel tracking control scheme, AMSFE-DTSMC, which is based on the DTSMC coupled with the sensor fusion estimator for a RLFJ manipulator.

Problem Formulation

Asynchronous Multirate Sensor Fusion Estimation

Rigid-Link Flexible-Joint Tracking Control

Simulation and Experimental Studies

Conclusion

Disclosure