Skip to main content
×
×
Home

Optimal sliding mode control design based on the state-dependent Riccati equation for cooperative manipulators to increase dynamic load carrying capacity

  • A. H. Korayem (a1), S. R. Nekoo (a1) and M. H. Korayem (a1)
Summary

Cooperative manipulators have uncertainties in their structure; therefore, an optimal sliding mode control method is derived from a combination of the sliding mode control (SMC) and the state-dependent Riccati equation (SDRE) technique. This proposed combination is applied to a class of non-linear closed-loop systems. One of the distinguished features of this control method is its robustness toward uncertainty. Due to the lack of optimality in the SMC method, in this paper, a robust and optimal method is presented by considering the SDRE in design of the sliding surface. Due to the fact that cooperative manipulators have been used for carrying loads, the percentage of load distributions between each manipulator has been derived to increase the dynamic load carrying capacity (DLCC). The proposed control structure is implemented on a Scout robot with two manipulators in cooperative mode, theoretically and practically using LabVIEW software; and the results were compared by considering the uncertainty in its structure. In comparison with the SDRE, the proposed method increased the DLCC almost 10% in the Scout case.

Copyright
Corresponding author
*Corresponding author: E-mail: hkorayem@iust.ac.ir
References
Hide All
1. Kokkinis, T., “Dynamic hybrid control of cooperating robots by nonlinear inversion,” Robotics and Autonomous Systems 5 (4), 359368 (1989).
2. Yun, X., Kumar, R. V., Sarkar, N. and Paljug, E., “Control of multiple arm systems with rolling constraints,” Technical Report, MS-CIS-91-79 (1991).
3. Wen, J. T. and Delgado, K. K., “Motion and force control of multiple robotic manipulators,” Automatica 28 (4), 729743 (1992).
4. Gao, W. B. and Xiao, D., “Tracking tasks of massive objects by multiple robot systems with non-firm grasping,” Mechatronics 3 (6), 727746 (1993).
5. Li, C. J., “Coordinated motion control of multi-arm robot systems with optimal load distribution,” Systems & Control Letters 15 (3), 237245 (1990).
6. Lin, S. T. and Tsai, H. C., “Impedance control with on-line neural network compensator for dual-arm robots,” Journal of Intelligent and Robotic Systems 18 (1), 87104 (1997).
7. Liu, J. S. and Chen, S. L., “Robust hybrid control of constrained robot manipulators via decomposed equations,” Journal of Intelligent and Robotic Systems 23 (1), 4570 (1998).
8. Zhao, J. and Bai, S. X., “Load distribution and joint trajectory planning of coordinated manipulation for two redundant robots,” Mechanism and Machine Theory 34 (8), 11551170 (1999).
9. Jing, Z. and Bai, S. X., “The study of coordinated manipulation of two redundant robots with elastic joints,” Mechanism and Machine Theory 35 (7), 895909 (2000).
10. Subbarao, K., Verma, A. and Junkins, J. L., “Model Reference Adaptive Control of Constrained Cooperative Manipulators,” Proceedings of the IEEE International Conference on Control Applications, Mexico City (Sep. 2001) pp. 553–558.
11. Li, Z., Ge, S. S. and Wang, Z., “Robust adaptive control of coordinated multiple mobile manipulators,” Mechatronics 18 (5), 239250 (2008).
12. Ghasemi, A. and Keshmiri, M., “Performance Assessment of a Decentralized Controller for Cooperative Manipulators; Numerical and Experimental Study,” Proceedings of the 6th International Symposium on Mechatronics and its Applications, Sharjah, UAE (Mar. 2009) pp. 1–6.
13. Yagiz, N., Hacioglu, Y. and Arslan, Y. Z., “Load transportation by dual arm robot using sliding mode control,” Journal of Mechanical Science and Technology 24 (5), 11771184 (2010).
14. Korayem, M. H., Jalali, M. and Tourajizadeh, H., “Dynamic load carrying capacity of spatial cable suspended robot: Sliding mode control approach,” International Journal of Advanced Design and Manufacturing Technology 5 (3), 7381 (2012).
15. Gonçalves, Chinelato Caio Igor and Martins-Filho, Luiz de Siqueira, “Control of cooperative mobile manipulators transporting a payload,” Proceedings of the Mechanical Engineering (COBEM), International Congress of. ABCM (2013).
16. Suzuki, S., Furuta, K. and Pan, Y., “State-dependent sliding-sector VS-control and application to swing-up control of pendulum,” Proceedings of the 42nd IEEE Conference on Decision and Control Maui, Hawaii USA (Dec. 2003).
17. Suzuki, S., Pan, Y., Furuta, K. and Hatakeyama, S., “Vs-control with time-varying sliding sector design and application to pendulum,” Asian Journal of Control 6 (3), 307316 (Sep., 2004).
18. Korayem, A. H., Nekoo, S. R. and Korayem, M. H., “Sliding mode control design based on the state-dependent Riccati equation: Theoretical and experimental implementation,” International Journal of Control 91, 0130 (2018).
19. Cimen, T., “Survey of state-dependent Riccati equation in nonlinear optimal feedback control synthesis,” Journal of Guidance, Control, and Dynamics 35 (4), 10251047 (2012).
20. Korayem, M. H. and Nekoo, S. R., “Finite-time state-dependent Riccati equation for time-varying nonaffine systems: Rigid and flexible joint manipulator control,” ISA Transactions 54, 125144 (2015).
21. Jean-Jacques, Slotine E. and Weiping, L., Applied Nonlinear Control, vol. 199, no. 1 (Englewood Cliffs, NJ: Prentice-Hall, 1991).
22. Korayem, M. H., Irani, M. and Nekoo, S. Rafee, “Load maximization of flexible joint mechanical manipulator using nonlinear optimal controller,” Acta Astronautica 69 (7), 458469 (2011).
23. Banks, H. T., Lewis, B. M. and Tran, H. T., “Nonlinear feedback controllers and compensators: A state-dependent Riccati equation approach,” Computational Optimization and Applications 37 (2), 177218 (2007).
24. Korayem, M. H., Irani, M. and Nekoo, S. R.. “Analysis of manipulators using SDRE: A closed loop nonlinear optimal control approach,” Scientia Iranica. Transaction B, Mechanical Engineering 17 (6), 456467 (2010).
25. Korayem, M. H. and Nekoo, S. R., “The SDRE control of mobile base cooperative manipulators: Collision free path planning and moving obstacle avoidance,” Robotics and Autonomous Systems 86, 86105 (2016).
26. Korayem, M. H. and Nekoo, S. R., “Controller design of cooperative manipulators using state-dependent Riccati equation,” Robotica 36, 132 (2017).
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *
×

Keywords

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed