Skip to main content

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

  • Keqiang Bai (a1), Xuantao Gong (a2), Sihai Chen (a3), Yingtong Wang (a4) and Zhigui Liu (a1)...

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.

Corresponding author
Hide All
1. Tonke, D. and Lee, T.-E., “Modeling, analysis, and scheduling of cluster tools with two independent arms,” IEEE Trans. Autom. Sci. Eng. 13 (2), 11761188 (2016).
2. Shin, S. Y. and Kim, C. H., “Human-like motion generation and control for humanoid's dual arm object manipulation,” IEEE Trans. Ind. Electron. 62 (4), 22652276 (2015).
3. Phee, S. J., Low, S. C., Dario, P. and Menciassi, A., “Tendon sheath analysis for estimation of distal end force and elongation for sensorless distal end,” Robotica 28 (7), 10731082 (2010).
4. Li, T. and Ceccarelli, M., “Design and simulated characteristics of a new biped mechanism,” Robotica 33 (1), 15681588 (2015).
5. Nicolis, D., Zanchettin, A. M. and Rocco, P., “Constraint-based and sensorless force control with an application to a lightweight dual-arm robot,” IEEE Robot. Autom. Lett. 1 (1), 340347 (2016).
6. Ragaglia, M., Zanchettin, A. M., Bascetta, L. and Rocco, P., “Accurate sensorless lead-through programming for lightweight robots in structured environments,” Robot. Comput.-Integr. Manuf. 39, 921 (2016).
7. Hill, J. and Fahimi, F., “Active disturbance rejection for walking bipedal robots using the acceleration of the upper limbs,” Robotica 33 (2), 264281 (2015).
8. Huang, S. J., Liu, S. and Wu, C. H., “Intelligent humanoid mobile robot with embedded control and stereo visual feedback,” J. Mech. Sci. Technol. 29 (9), 39193931 (2015).
9. Garofalo, G. and Ott, C., “Limit cycle control using energy function regulation with friction compensation,” IEEE Robot. Autom. Lett. 1 (1), 9097 (2016).
10. Norton, M., Khoo, S., Kouzani, A. and Stojcevski, A., “Adaptive fuzzy multi-surface sliding control of multiple-input and multiple-output autonomous flight systems,” IET Control Theory Appl. 9 (4), 587597 (2015).
11. Chang, X.-H., “Robust non-fragile H filtering of fuzzy systems with linear fractional parametric uncertainties,” IEEE Trans. Fuzzy Syst. 20, 10011011 (2012).
12. Fahimi, F. and Van Kleeck, C., “Alternative trajectory-tracking control approach for marine surface vessels with experimental verification,” Robotica 31 (1), 2533 (2013).
13. Liu, H., Xi, J. and Zhong, Y., “Robust optimal attitude control of a laboratory helicopter without angular velocity feedback,” Robotica 33 (2), 282294 (2015).
14. Chen, W. H., Ballance, D. J., Gawthrop, P. J. and O'Reilly, J., “A nonlinear disturbance observer for robotic manipulators,” IEEE Trans. Ind. Electron. 47 (4), 932938 (2000).
15. Corradini, M. L., Fossi, V., Giantomassi, A., Longhi, S. and Orlando, G., “Discrete time sliding mode control of robotic manipulators: Development and experimental validation,” Control Eng. Pract. 20 (8), 816822 (2012).
16. Incremona, G. P., De Felici, G. and Ferrara, A., “A supervisory sliding mode control approach for cooperative robotic system of systems,” IEEE Syst. J. 9 (1), 263272 (2015).
17. Firoozabadi, A. E., Ebrahimi, S. and Fontllagunes, J. M., “A comparative study of elastic motions in trajectory tracking of flexible RPR planar manipulators moving with high speed,” Robotica 35 (7), 15231540 (2017).
18. Khan, Q., Bhatti, A. I., Iqbal, M. and Ahmed, Q., “Dynamic integral sliding mode control for SISO uncertain nonlinear systems,” Int. J. Innovative Comput. Inf. Control 8 (7), 46214633 (2012).
19. Mohammadi, A., Tavakoli, M., Marquez, H. J. and Hashemzadeh, F., “Nonlinear disturbance observer design for robotic manipulators,” Control Eng. Pract. 21 (3), 253267 (2013).
20. Eom, M. and Chwa, D., “Robust swing-up and balancing control using a nonlinear disturbance observer for the pendubot system with dynamic friction,” IEEE Trans. Robot. 31 (2), 331343 (2015).
21. Ginoya, D., Shendge, P. D. and Phadke, S. B., “Disturbance observer based sliding mode control of nonlinear mismatched uncertain systems,” Commun. Nonlinear Sci. Numer. Simul. 26 (1), 98107 (2015).
22. Singh, Y. and Santhakumar, M., “Inverse dynamics and robust sliding mode control of a planar parallel (2-PRP and 1-PPR) robot augmented with a nonlinear disturbance observer,” Mech. Mach. Theory 92, 2950 (2015).
23. Mohammed, S., Huo, W., Huang, J., Rifaïa, H. and Amirat, Y., “Nonlinear disturbance observer based sliding mode control of a human-driven knee joint orthosis,” Robot. Auton. Syst. 75, 4149 (2016).
24. Santhakumar, M., “A nonregressor nonlinear disturbance observer-based adaptive control scheme for an underwater manipulator,” Adv. Robot. 27 (16), 12731283 (2013).
25. Rigatos, G. G., “Control and disturbances compensation in underactuated robotic systems using the derivative-free nonlinear Kalman filter,” Robotica 35 (3), 687711 (2017).
26. Abdelhedi, F., Bouteraa, Y. and Derbel, N., “Second order sliding mode based synchronization control for cooperative robot manipulators,” Adv. Appl. Nonlinear Control Syst. Springer, Cham, 669683 (2016).
27. Zhao, D., Li, S., and , Q Z.Adaptive synchronised tracking control for multiple robotic manipulators with uncertain kinematics and dynamics,” Int. J. Syst. Sci. 47 (4), 791804 (2016).
28. Bai, K., Luo, M., Liu, M. and Jiang, G., “Fuzzy Backstepping Control for Dual-Arm Cooperative Robot Grasp,” Proceedings of International Conference on Robotics Biomimetics ROBIO2015, Zhuhai, China (Dec. 2015) pp. 2563–2568.
29. Mahyuddin, M. N., Khan, S. G. and Herrmann, G., “A novel robust adaptive control algorithm with finite-time online parameter estimation of a humanoid robot arm,” Robot. Auton. Syst. 62, 294305 (2014).
Recommend this journal

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

  • 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? *



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