Observer-based control for robotic manipulations with uncertain kinematics and dynamics

Bing Xiao; Shen Yin; Okyay Kaynak; Huijun Gao

doi:10.1109/AMC.2016.7496364

Observer-based control for robotic manipulations with uncertain kinematics and dynamics

Bing Xiao, Shen Yin, Okyay Kaynak, Huijun Gao

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper investigates the problem of tracking control for robotic manipulations with high-accuracy guaranteed. Uncertain kinematics, unknown torques including unknown gravitational torque, unknown friction torque, and uncertain dynamics induced by uncertain moment of inertia and disturbance, are addressed. The approach is developed in the framework of observer-based control design. Two sliding mode observers are proposed to handle uncertain kinematics and to estimate unknown torques, respectively. Using the estimated information, a control law is then synthesized to guarantee that the desired trajectory can be followed after finite-time with zero tracking error. Experimental results are presented to show the performance of the proposed control approach.

Original language	English
Title of host publication	2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	282-288
Number of pages	7
ISBN (Electronic)	9781479984640
DOIs	https://doi.org/10.1109/AMC.2016.7496364
State	Published - 20 Jun 2016
Externally published	Yes
Event	14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand Duration: 22 Apr 2016 → 24 Apr 2016

Publication series

Name	2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016

Conference

Conference	14th IEEE International Workshop on Advanced Motion Control, AMC 2016
Country/Territory	New Zealand
City	Auckland
Period	22/04/16 → 24/04/16

Keywords

Robotic manipulator
Sliding mode observer
Tracking control
Uncertain kinematics/dynamics

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10.1109/AMC.2016.7496364

Cite this

Xiao, B., Yin, S., Kaynak, O., & Gao, H. (2016). Observer-based control for robotic manipulations with uncertain kinematics and dynamics. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016 (pp. 282-288). Article 7496364 (2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2016.7496364

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title = "Observer-based control for robotic manipulations with uncertain kinematics and dynamics",

abstract = "This paper investigates the problem of tracking control for robotic manipulations with high-accuracy guaranteed. Uncertain kinematics, unknown torques including unknown gravitational torque, unknown friction torque, and uncertain dynamics induced by uncertain moment of inertia and disturbance, are addressed. The approach is developed in the framework of observer-based control design. Two sliding mode observers are proposed to handle uncertain kinematics and to estimate unknown torques, respectively. Using the estimated information, a control law is then synthesized to guarantee that the desired trajectory can be followed after finite-time with zero tracking error. Experimental results are presented to show the performance of the proposed control approach.",

keywords = "Robotic manipulator, Sliding mode observer, Tracking control, Uncertain kinematics/dynamics",

author = "Bing Xiao and Shen Yin and Okyay Kaynak and Huijun Gao",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 14th IEEE International Workshop on Advanced Motion Control, AMC 2016 ; Conference date: 22-04-2016 Through 24-04-2016",

year = "2016",

month = jun,

day = "20",

doi = "10.1109/AMC.2016.7496364",

language = "英语",

series = "2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Xiao, B, Yin, S, Kaynak, O & Gao, H 2016, Observer-based control for robotic manipulations with uncertain kinematics and dynamics. in 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016., 7496364, 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 282-288, 14th IEEE International Workshop on Advanced Motion Control, AMC 2016, Auckland, New Zealand, 22/04/16. https://doi.org/10.1109/AMC.2016.7496364

Observer-based control for robotic manipulations with uncertain kinematics and dynamics. / Xiao, Bing; Yin, Shen; Kaynak, Okyay et al.
2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 282-288 7496364 (2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Observer-based control for robotic manipulations with uncertain kinematics and dynamics

AU - Xiao, Bing

AU - Yin, Shen

AU - Kaynak, Okyay

AU - Gao, Huijun

PY - 2016/6/20

Y1 - 2016/6/20

N2 - This paper investigates the problem of tracking control for robotic manipulations with high-accuracy guaranteed. Uncertain kinematics, unknown torques including unknown gravitational torque, unknown friction torque, and uncertain dynamics induced by uncertain moment of inertia and disturbance, are addressed. The approach is developed in the framework of observer-based control design. Two sliding mode observers are proposed to handle uncertain kinematics and to estimate unknown torques, respectively. Using the estimated information, a control law is then synthesized to guarantee that the desired trajectory can be followed after finite-time with zero tracking error. Experimental results are presented to show the performance of the proposed control approach.

AB - This paper investigates the problem of tracking control for robotic manipulations with high-accuracy guaranteed. Uncertain kinematics, unknown torques including unknown gravitational torque, unknown friction torque, and uncertain dynamics induced by uncertain moment of inertia and disturbance, are addressed. The approach is developed in the framework of observer-based control design. Two sliding mode observers are proposed to handle uncertain kinematics and to estimate unknown torques, respectively. Using the estimated information, a control law is then synthesized to guarantee that the desired trajectory can be followed after finite-time with zero tracking error. Experimental results are presented to show the performance of the proposed control approach.

KW - Robotic manipulator

KW - Sliding mode observer

KW - Tracking control

KW - Uncertain kinematics/dynamics

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M3 - 会议稿件

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T3 - 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016

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BT - 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 14th IEEE International Workshop on Advanced Motion Control, AMC 2016

Y2 - 22 April 2016 through 24 April 2016

ER -

Xiao B, Yin S, Kaynak O, Gao H. Observer-based control for robotic manipulations with uncertain kinematics and dynamics. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 282-288. 7496364. (2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016). doi: 10.1109/AMC.2016.7496364

Observer-based control for robotic manipulations with uncertain kinematics and dynamics

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Keywords

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