Influence of Joint Actuator Dynamics on Sliding Mode Controlled Flexible Manipulators

Yanmin Wang; Zhao Ying; Weiqi Zhang

doi:10.1109/IECON43393.2020.9254820

Influence of Joint Actuator Dynamics on Sliding Mode Controlled Flexible Manipulators

Yanmin Wang
, Zhao Ying
, Weiqi Zhang

School of Electrical Engineering and Automation, Harbin Institute of Technology

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

Abstract

This paper investigates the influence of unmodeled dynamics of joint actuators on sliding mode controlled two-link flexible manipulators. The joint actuators are modeled as singularly perturbed systems and a linear combination of joint angular and flexible modes is chosen as a new output, which can decompose the whole system into an input-output subsystem and a zero dynamic subsystem for the indirect control of tip-position. For the input-output subsystem, the influence of joint actuator dynamics on the system stability is investigated; while for the zero dynamic subsystem, its stability is proved to be related to the redefined parameters. Finally the Lyapunov stability theory is used to determine the steady error of tip-position for each link. Simulations validate this paper.

Original language	English
Title of host publication	Proceedings - IECON 2020
Subtitle of host publication	46th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
Pages	273-278
Number of pages	6
ISBN (Electronic)	9781728154145
DOIs	https://doi.org/10.1109/IECON43393.2020.9254820
State	Published - 18 Oct 2020
Externally published	Yes
Event	46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore Duration: 19 Oct 2020 → 21 Oct 2020

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2020-October

Conference

Conference	46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
Country/Territory	Singapore
City	Virtual, Singapore
Period	19/10/20 → 21/10/20

Keywords

Lyapunov stability theory
Sliding mode control
flexible manipulator
joint actuator
singular perturbation

Access to Document

10.1109/IECON43393.2020.9254820

Cite this

Wang, Y., Ying, Z., & Zhang, W. (2020). Influence of Joint Actuator Dynamics on Sliding Mode Controlled Flexible Manipulators. In Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society (pp. 273-278). Article 9254820 (IECON Proceedings (Industrial Electronics Conference); Vol. 2020-October). IEEE Computer Society. https://doi.org/10.1109/IECON43393.2020.9254820

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title = "Influence of Joint Actuator Dynamics on Sliding Mode Controlled Flexible Manipulators",

abstract = "This paper investigates the influence of unmodeled dynamics of joint actuators on sliding mode controlled two-link flexible manipulators. The joint actuators are modeled as singularly perturbed systems and a linear combination of joint angular and flexible modes is chosen as a new output, which can decompose the whole system into an input-output subsystem and a zero dynamic subsystem for the indirect control of tip-position. For the input-output subsystem, the influence of joint actuator dynamics on the system stability is investigated; while for the zero dynamic subsystem, its stability is proved to be related to the redefined parameters. Finally the Lyapunov stability theory is used to determine the steady error of tip-position for each link. Simulations validate this paper.",

keywords = "Lyapunov stability theory, Sliding mode control, flexible manipulator, joint actuator, singular perturbation",

author = "Yanmin Wang and Zhao Ying and Weiqi Zhang",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 ; Conference date: 19-10-2020 Through 21-10-2020",

year = "2020",

month = oct,

day = "18",

doi = "10.1109/IECON43393.2020.9254820",

language = "英语",

series = "IECON Proceedings (Industrial Electronics Conference)",

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Wang, Y, Ying, Z & Zhang, W 2020, Influence of Joint Actuator Dynamics on Sliding Mode Controlled Flexible Manipulators. in Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society., 9254820, IECON Proceedings (Industrial Electronics Conference), vol. 2020-October, IEEE Computer Society, pp. 273-278, 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020, Virtual, Singapore, Singapore, 19/10/20. https://doi.org/10.1109/IECON43393.2020.9254820

Influence of Joint Actuator Dynamics on Sliding Mode Controlled Flexible Manipulators. / Wang, Yanmin; Ying, Zhao; Zhang, Weiqi.
Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2020. p. 273-278 9254820 (IECON Proceedings (Industrial Electronics Conference); Vol. 2020-October).

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

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T1 - Influence of Joint Actuator Dynamics on Sliding Mode Controlled Flexible Manipulators

AU - Wang, Yanmin

AU - Ying, Zhao

AU - Zhang, Weiqi

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N2 - This paper investigates the influence of unmodeled dynamics of joint actuators on sliding mode controlled two-link flexible manipulators. The joint actuators are modeled as singularly perturbed systems and a linear combination of joint angular and flexible modes is chosen as a new output, which can decompose the whole system into an input-output subsystem and a zero dynamic subsystem for the indirect control of tip-position. For the input-output subsystem, the influence of joint actuator dynamics on the system stability is investigated; while for the zero dynamic subsystem, its stability is proved to be related to the redefined parameters. Finally the Lyapunov stability theory is used to determine the steady error of tip-position for each link. Simulations validate this paper.

AB - This paper investigates the influence of unmodeled dynamics of joint actuators on sliding mode controlled two-link flexible manipulators. The joint actuators are modeled as singularly perturbed systems and a linear combination of joint angular and flexible modes is chosen as a new output, which can decompose the whole system into an input-output subsystem and a zero dynamic subsystem for the indirect control of tip-position. For the input-output subsystem, the influence of joint actuator dynamics on the system stability is investigated; while for the zero dynamic subsystem, its stability is proved to be related to the redefined parameters. Finally the Lyapunov stability theory is used to determine the steady error of tip-position for each link. Simulations validate this paper.

KW - Lyapunov stability theory

KW - Sliding mode control

KW - flexible manipulator

KW - joint actuator

KW - singular perturbation

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Influence of Joint Actuator Dynamics on Sliding Mode Controlled Flexible Manipulators

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