Abstract
This paper focuses on the position/force tracking control problem for constrained multiple flexible joint manipulators system with nonlinear input of hysteresis loop. Firstly, the dynamic model is given in the task space and the input of hysteresis loop model is approximated by a differential equation. Secondly, considering the disturbance with unknown bounds, a robust adaptive control strategy based on the sliding mode which consists of constraint force error and position error is designed. The proposed approach can not only compensate the model error, external disturbance, and flexible parameter uncertainties, but also drive the closed-loop system variables to reach the sliding model surface. Then it can be proved that both position and constraint force errors can be guaranteed to converge to zero. Finally, the simulation results can verify the effectiveness of the proposed method.
Highlights
The position and force control of the multiple manipulators system have been widely concerned in recent years [1, 2]
Considering the existence of gear clearance in the multiple manipulators system, we proposed a robust adaptive control strategy based on a sliding mode to overcome the gear clearance
A robust adaptive position/force control strategy based on sliding mode is proposed for multiple flexible joint manipulators system
Summary
The position and force control of the multiple manipulators system have been widely concerned in recent years [1, 2]. To discuss the time delay, an adaptive position/force control based on the backstepping for flexible joint manipulator with time delay was investigated in [5]. Considering the position and force control issues of constrained flexible joint robots with parametric uncertainty, a new adaptive and sliding mode control scheme was developed in [11]. An adaptive position/force control of coordinated multiple manipulators based on a new sliding mode was presented in the paper [18]. Considering the time delay, a robust adaptive control strategy based on a sliding mode is designed for the motion synchronization of multiple flexible joint manipulators with time delay in [1]. Considering the existence of gear clearance in the multiple manipulators system, we proposed a robust adaptive control strategy based on a sliding mode to overcome the gear clearance. The simulation results illustrate the validity and the feasibility of the proposed method in this paper
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