Adaptive Tracking Control of Robotic Manipulators With Unknown Kinematics and Uncertain Dynamics

doi:10.1109/TASE.2023.3309964

	Adaptive Tracking Control of Robotic Manipulators With Unknown Kinematics and Uncertain Dynamics
	Tong, Yuchuang1 ; Liu, Jinguo 2,3; Zhou, Hao 2,3; Ju, Zhaojie 2,4; Zhang, Xin 2,3
发表期刊	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
ISSN	1545-5955
	2023-09-04
页码	18
通讯作者	Liu, Jinguo(liujinguo@sia.cn)
摘要	This paper addresses a long-standing yet well-documented open problem on trajectory tracking control of manipulators, which is simultaneously affected by unknown kinematics and uncertain dynamics. A theoretical framework for implementing exponential tracking control is established by unifying two novel controllers, i.e., the Jacobian matrix adaption (JMA) controller and the observer-based estimation law, into an integrated control system. The proposed JMA controller converts internal, implicit and immeasurable model information to external, explicit and measurable input-output information for adaptive learning of unknown kinematics. The proposed observer-based estimation law can guarantee the global exponential stability of the estimation error for accurately estimating uncertain dynamics. In addition, the inherent measurement noise, hard nonlinearity, and limited sampling period lead to chattering phenomenon and accumulated errors occur during convergence process. Hence, an improved simple model-free adaptive sliding mode control (ASMC) scheme is proposed to compensate these limitations, which has fast adaptability and powerful tracking and chattering suppression capabilities. It is theoretically proved that the integrated control system is globally exponentially stable. Simulation, experiments and comparison verify the convergence performance of the proposed integrated control system. Note to Practitioners-Despite the enormous advantages provided by advanced robotic manipulators, developing effective tracking control schemes remains a challenging problem Unfortunately, however, the assumption of precise kinematic and dynamic parameters during tracking control is practically unrealistic due to the absence of precise parameters and measurements of the interaction between robotic manipulators and external environment. This uncertainty will reduce the control performance of manipulators, such as accuracy and repeatability. It is of practical significance to further solve the tracking control of manipulators while considering both the uncertain kinematics and the uncertain dynamics. Therefore, this paper addresses the tracking control problem of manipulators, which is simultaneously affected by unknown kinematics and uncertain dynamics. By unifying the two novel controllers into an integrated control system, a theoretical framework for implementing exponential tracking control is established. In addition, an improved scheme is proposed to compensate chattering phenomenon and accumulated errors during the convergence process. The superior convergence performance of the integrated control system are verified by the simulation and experiments.
关键词	Trajectory tracking adaptive control robotic manipulators unknown kinematics model uncertain dynamics
DOI	10.1109/TASE.2023.3309964
关键词[WOS]	SLIDING-MODE CONTROL ; BACKSTEPPING CONTROL ; DESIGN ; SPACE
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Program of China[2022YFB3303800] ; National Key Research and Development Program of China[2018YFB1304600] ; National Natural Science Foundation of China[62303457] ; National Natural Science Foundation of China[U21A20482] ; China Postdoctoral Science Foundation[2023M733737] ; Binzhou Weiqiao Guoke Advanced Technology Research Institute[E2D21710]
项目资助者	National Key Research and Development Program of China ; National Natural Science Foundation of China ; China Postdoctoral Science Foundation ; Binzhou Weiqiao Guoke Advanced Technology Research Institute
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:001064596100001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/53201
专题	中科院工业视觉智能装备工程实验室
通讯作者	Liu, Jinguo
作者单位	1.Chinese Acad Sci, Inst Automat, CAS Engn Lab Intelligent Ind Vis, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China 3.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang 110169, Peoples R China 4.Univ Portsmouth, Sch Comp, Portsmouth PO1 3HE, England
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Tong, Yuchuang,Liu, Jinguo,Zhou, Hao,et al. Adaptive Tracking Control of Robotic Manipulators With Unknown Kinematics and Uncertain Dynamics[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2023:18.
APA	Tong, Yuchuang,Liu, Jinguo,Zhou, Hao,Ju, Zhaojie,&Zhang, Xin.(2023).Adaptive Tracking Control of Robotic Manipulators With Unknown Kinematics and Uncertain Dynamics.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,18.
MLA	Tong, Yuchuang,et al."Adaptive Tracking Control of Robotic Manipulators With Unknown Kinematics and Uncertain Dynamics".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2023):18.