Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators

doi:10.1109/THMS.2021.3129708

	Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators
	Liang, Xu 1; He, Guangping 1; Su, Tingting 1; Wang, Weiqun2,3 ; Huang, Can 1; Zhao, Quanliang 1; Hou, Zeng-Guang2,3,4,5
发表期刊	IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS
ISSN	2168-2291
	2022-02-01
卷号	52 期号:1 页码:26-40
通讯作者	Hou, Zeng-Guang(hou@compsys.ia.ac.cn)
摘要	Human-robot interaction has been widely studied, where compliant and safe human-robot interaction of continuum manipulators in the constrained environment is one of the key issues that have not been well addressed. In this study, finite-time observer-based variable impedance control of cable-driven continuum manipulators (CDCM) is proposed to overcome the limitation of existing methods. First, the pseudo-rigid modeling method is utilized to establish the kinematics and dynamics of the CDCM. Then, a variable impedance controller with selected controller parameters for the CDCM is designed to realize compliant and safe human-robot interaction operations with force-position coupling constraint, which is rarely studied in the literature. In order to realize the closed-loop variable impedance controller, a finite-time observer is designed to estimate acceleration feedbacks, which can avoid the difficulty of directly sensing the interaction forces and shows excellent robust stability in noisy environments. On this basis, by combining the advantages of the variable impedance controller and finite-time observer, the finite-time observer-based variable impedance controller is proposed, and the stabilities of the proposed method are analyzed. Finally, the feasibility of the proposed control scheme for the CDCM is demonstrated by some numerical simulations.
关键词	Manipulators Impedance Kinematics Observers Manipulator dynamics Robots Task analysis Compliant robots continuum manipulators control finite-time stabilization variable impedance
DOI	10.1109/THMS.2021.3129708
关键词[WOS]	DYNAMICS ; ROBOT ; STABILIZATION ; STABILITY ; PRINCIPLE ; SYSTEMS ; DESIGN ; MOTION
收录类别	SCI
语种	英语
资助项目	National Key R&D Program of China[2019YFB1309603] ; Natural Science Foundation of China[62103007] ; Natural Science Foundation of China[62003005] ; Natural Science Foundation of China[51775002] ; Natural Science Foundation of Beijing[4204097] ; Natural Science Foundation of Beijing[L202020] ; Natural Science Foundation of Beijing[KM202110009009] ; Natural Science Foundation of Beijing[KZ202010009015] ; Open Research Fund of the State Key Laboratory for Management and Control of Complex Systems[20210103]
项目资助者	National Key R&D Program of China ; Natural Science Foundation of China ; Natural Science Foundation of Beijing ; Open Research Fund of the State Key Laboratory for Management and Control of Complex Systems
WOS研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS记录号	WOS:000740067700001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	智能控制
引用统计	被引频次：5[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/47188
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Hou, Zeng-Guang
作者单位	1.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.CAS Ctr Excellence Brain Sci & Intelligence Techn, Beijing 100190, Peoples R China 5.Macau Univ Sci & Technol, Inst Syst Engn, Joint Lab Intelligence Sci & Technol, Macau, Peoples R China
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Liang, Xu,He, Guangping,Su, Tingting,et al. Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators[J]. IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS,2022,52(1):26-40.
APA	Liang, Xu.,He, Guangping.,Su, Tingting.,Wang, Weiqun.,Huang, Can.,...&Hou, Zeng-Guang.(2022).Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators.IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS,52(1),26-40.
MLA	Liang, Xu,et al."Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators".IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS 52.1(2022):26-40.