Title :
Adaptive sliding mode control for manipulating deformable linear object with input saturation
Author :
Ding, Feng ; Huang, Jian ; Wang, Yongji ; Fukuda, Toshio ; Matsuno, Takayuki
Author_Institution :
Dept. of control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
Manipulating deformable linear objects (DLOs) is much challengeable as the uncertainty resulting from oscillation of DLOs may cause failure in the operation. In this paper, we proposed a position-based control strategy to eliminate the vibration at the end of DLOs. The simplified dynamic model of a DLO is obtained by local linearization, Schur decomposition of matrices and linear transform of variable. Based on the dynamic model, an adaptive law is applied to estimate the uncertain parameters, and a sliding mode controller considering the position constraint condition is designed to force the state variables converging to the equilibrium. The effectiveness of proposed control strategies are verified by numerical simulations.
Keywords :
adaptive control; control system synthesis; deformation; industrial manipulators; linear systems; linearisation techniques; matrix decomposition; numerical analysis; oscillations; parameter estimation; position control; uncertain systems; variable structure systems; vibration control; DLO manipulation; DLO oscillation; Schur matrix decomposition; adaptive law; adaptive sliding mode control; deformable linear object manipulation; dynamic model; input saturation; linear variable transform; local linearization; numerical simulations; position constraint; position-based control strategy; sliding mode controller design; state variables; uncertain parameter estimation; vibration elimination; Adaptation models; Equations; Mathematical model; Matrix decomposition; Modeling; Symmetric matrices; Vibrations; Adaptive sliding mode control; deformable linear objects; input saturation; vibration reduction;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6285105