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Adaptive Control of Multiple Mobile Manipulators Transporting a Rigid Object
Abdelkrim Brahmi,Maarouf Saad,Guy Gauthier,Wen-Hong Zhu,Jawhar Ghommam 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4
This paper presents a nonlinear control scheme for multiple mobile manipulator robots (MMR) movinga rigid object in coordination. The dynamic parameters of the handled object and the mobile manipulators areestimated online using the virtual decomposition approach. The control law is designed based on an appropriatechoice of the Lyapunov function candidate. The proposed control design ensures that the position error in theworkspace converges to zero, and the external force error is bounded. Numerical simulations and an experimentalvalidation are carried out for two mobile manipulators transporting an object in order to show the effectiveness ofthe proposed controller.
Control of an Exoskeleton Robot Arm with Sliding Mode Exponential Reaching Law
Mohammad H. Rahman,Maarouf Saad,Jean-Pierre Kenné,Philippe S. Archambault 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.1
Robots are now working not only in human environments but also interacting with humans, e.g., service robots or assistive robots. A 7DoFs robotic exoskeleton MARSE-7 (motion assistive robotic-exoskeleton for superior extremity) was developed as an assistive robot to provide movement as-sistance and/or ease daily upper-limb motion. In this paper, we highlight the nonlinear control of MARSE-7 using the modified sliding mode exponential reaching law (mSMERL). Conventional sliding control produces chattering which is undesired for this kind of robotic application as it causes damage to the mechanical structure. Compared to conventional sliding control, our approach significantly re-duces chattering and delivers a high dynamic tracking performance. The control architecture was im-plemented on a field-programmable gate array (FPGA) in conjunction with a RT-PC. In experiments, trajectory tracking that corresponds to typical passive arm movement exercises for single and multi joint movements were performed to evaluate the performance of the developed robot and the controller. Experimental results demonstrate that the MARSE-7 can effectively track the desired trajectories.
Brahim Brahmi,Ibrahim El Bojairami,Maarouf Saad,Mark Driscoll,Samir Zemam,Mohamed Hamza Laraki 대한전기학회 2021 Journal of Electrical Engineering & Technology Vol.16 No.1
This paper presents the design and validation of a new adaptive variable gain reaching law, integrated with sliding mode control (SMC), to control perturbed and unperturbed nonlinear systems. The novelty behind this law stems from its capability to overcome the main limitations involved with SMC. In contrast to existing reaching laws, system’s performance can be substantially enhanced via this law, with signifi cant reduction in the chattering phenomenon, along ensuring rapid convergence time of system’s trajectories towards equilibrium. The designed law not only integrates the features of both the exponential reaching law (ERL) and the power rate reaching law (PRL), but also overcomes their limitations. Simulation and comparison studies against ERL and PRL were carried out to validate the eff ectiveness and advantages of the proposed reaching law scheme (Proposed-RL). Furthermore, controlled experimental investigations were conducted using an exoskeleton robot (ETS-MARSE) to validate the scheme in real-time.