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Task-space Neuro-Sliding Mode Control of Robot Manipulators under Jacobian Uncertainties
Rodolfo García-Rodríguez,Vicente Parra-Vega 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.5
Cartesian robot control is an appealing scheme because it avoids the computation of inverse kinematics, in contrast to joint robot control approach. For tracking, high computational load is typi-cally required to obtain Cartesian robot dynamics. In this paper, an alternative approach for Cartesian tracking is proposed under assumption that robot dynamics is unknown and the Jacobian are uncertain. A neuro-sliding second order mode controller delivers a low dimensional neural network, which roughly estimates inverse robot dynamics, and an inner smooth control loop guarantees exponential tracking. Experimental results are presented to confirm the performance in a real time environment.
Dynamic Manipulation of an Unknown Object Under Compliant Non-holonomic Constraints
Rodolfo Garcia-Rodriguez,Vicente Parra-Vega,Luis Pantoja-Garcia,Ernesto Olguin-Diaz 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.6
There are many robot control schemes where the end-effector is subject to holonomic or non-holonomic constraints. However, the literature has overlooked the problem of simultaneous holonomic and nonholonomic constraints. In particular, the case of constrained tangent force with a normal force to manipulate an object. In this paper, to study this problem, it is considered two 2D rigid robot fingers whose end-effectors are equipped with hemispherical deformable tips in contact with a rigid object. If the radius changes when force is exerted, we can notice a 1D-tangent constraint force and a 1D-normal compliant force arise simultaneously from the so-called compliant nonholonomic constraint. An energy reshaping controller is proposed to ensure simultaneously the convergence of the normal and tangential constraint forces assuming nonlinear viscoelastic damping. A representative simulation study shows the advantages of the constraints forces, in complex dexterity tasks, under the assumption that knowledge of the non-regular object is unknown.
Fractional Sliding Mode Control of Underwater ROVs subject to Non-differentiable Disturbances
Aldo-Jonathan Muñoz-Vázquez,Heriberto Ramírez-Rodríguez,Vicente Parra-Vega,Anand Sánchez-Orta 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.3
Some hydrodynamic phenomena of an underwater Remotely Operated Vehicle (ROV), such as turbulence,cavitation, and multi-phase fluidic regimes, are associated to continuous but nowhere differentiable functions. These disturbances stand as complex forces potentially influencing the ROVs during typical navigation tasks. In thispaper, the tracking control of a ROV subject to nonsmooth Hölder disturbances is proposed based on a fractionalorderrobust controller that ensures exponential tracking. Notably, the controller gives rise to a closed-loop systemwith the following characteristics: a) continuous control signal that alleviates chattering effects; b) the fractionalsliding motion is substantiated on a proposed resetting memory principle; c) the control is robust to model uncertainties;and d) exact rejection of Hölder disturbances in finite-time. A representative simulation study reveals thefeasibility of the proposed scheme.