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Sliding mode nonlinear disturbance observer-based adaptive back-stepping control of a humanoid robotic dual manipulator

Published online by Cambridge University Press:  07 August 2018

Keqiang Bai ,
Xuantao Gong ,
Sihai Chen ,
Yingtong Wang  and
Zhigui Liu
Keqiang Bai*
Affiliation:
School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, P.R. China
Xuantao Gong*
Affiliation:
Information Technology Teaching Center, Tianfu College of Southwestern University of Finance and Economics, Mianyang 621000, P.R. China
Sihai Chen
Affiliation:
Science and Technology Department, Mianyang Vocational and Technical College, Mianyang 621000, P.R. China E-mail: sihai_chen@63.com
Yingtong Wang
Affiliation:
School of Civil and Environmental Engineering, City College of Southwest University of Science and Technology, Mianyang 621000, P.R. China E-mail: 462806425@qq.com
Zhigui Liu*
Affiliation:
School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, P.R. China
*
*Corresponding authors. E-mail: baisir@mail.ustc.edu.cn, 35657861@qq.com, liuzhigui@swust.edu.cn
*Corresponding authors. E-mail: baisir@mail.ustc.edu.cn, 35657861@qq.com, liuzhigui@swust.edu.cn
*Corresponding authors. E-mail: baisir@mail.ustc.edu.cn, 35657861@qq.com, liuzhigui@swust.edu.cn
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Summary

An adaptive back-stepping sliding mode controller (ABSMC) algorithm was developed for nonlinear uncertain systems based on a nonlinear disturbance observer (NDO). The developed ABSMC was applied to attitude control for the dual arm of a humanoid robot. Considering the system uncertainty and the unknown external disturbances, the ABSMC scheme was designed to eliminate the chattering phenomenon in the traditional sliding mode control and to reduce the tracking error closer to zero. The ABSMC algorithm solved problems related to the chattering of the system for both uncertainties and disturbances in the humanoid robotic system with an NDO in a two-dimensional environment. The algorithm was designed to work equally well with agents, with higher degrees of freedom in different applications. The method was appropriate for improving tracking performance. The ABSMC algorithm guaranteed global stability and improved the dynamic performance of the system. The algorithm inherited a low computational cost, probabilistic completeness, and asymptotic optimality from the fuzzy sliding mode control. This algorithm has a practical application in the dual arm of a humanoid robot with a circular trajectory. This paper showed the effectiveness and applicability of the proposed methods, which reduced the output of the controller and improved the control performance of the humanoid robotic system. The new combined control algorithm, ABSMC, was able to feasibly and efficiently weaken the chattering on the robot's closed-loop paths, starting and finishing at the same configuration.

Keywords

Adaptive back-stepping sliding mode controlHumanoid robotsNonlinear disturbance observerHumanoid robotic system

Information

Type
Articles
Information
Robotica , Volume 36 , Issue 11 , November 2018 , pp. 1728 - 1742
Copyright
Copyright © Cambridge University Press 2018 

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