The main technical challenge in decentralized control of modular and reconfigurable robots (MRRs) with torque sensor is related to the treatment of interconnection term and friction term. This paper proposed a modified adaptive sliding mode decentralized control strategy for trajectory tracking control of the MRRs. The radial basis function (RBF) neural network is used as an effective learning method to approximate the interconnection term and friction term, eliminating the effect of model uncertainty and reducing the controller gain. In addition, in order to provide faster convergence and higher precision control, the terminal sliding mode algorithm is introduced to the controller design. Based on the Lyapunov method, the stability of the MRRs is proved. Finally, experiments are performed to confirm the effectiveness of the method.
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June 2019
Research-Article
Decentralized Trajectory Tracking Control for Modular and Reconfigurable Robots With Torque Sensor: Adaptive Terminal Sliding Control-Based Approach
Yan Li,
Yan Li
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: liyan_dianqi@ccut.edu.cn
Changchun University of Technology,
Changchun 130012, China
e-mail: liyan_dianqi@ccut.edu.cn
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Zengpeng Lu,
Zengpeng Lu
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: luzengpeng@outlook.com
Changchun University of Technology,
Changchun 130012, China
e-mail: luzengpeng@outlook.com
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Fan Zhou,
Fan Zhou
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: zhoufan@ccut.edu.cn
Changchun University of Technology,
Changchun 130012, China
e-mail: zhoufan@ccut.edu.cn
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Bo Dong,
Bo Dong
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: dongbo@ccut.edu.cn
Changchun University of Technology,
Changchun 130012, China
e-mail: dongbo@ccut.edu.cn
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Keping Liu,
Keping Liu
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: liukeping@ccut.edu.cn
Changchun University of Technology,
Changchun 130012, China
e-mail: liukeping@ccut.edu.cn
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Yuanchun Li
Yuanchun Li
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: liyc@ccut.edu.cn
Changchun University of Technology,
Changchun 130012, China
e-mail: liyc@ccut.edu.cn
Search for other works by this author on:
Yan Li
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: liyan_dianqi@ccut.edu.cn
Changchun University of Technology,
Changchun 130012, China
e-mail: liyan_dianqi@ccut.edu.cn
Zengpeng Lu
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: luzengpeng@outlook.com
Changchun University of Technology,
Changchun 130012, China
e-mail: luzengpeng@outlook.com
Fan Zhou
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: zhoufan@ccut.edu.cn
Changchun University of Technology,
Changchun 130012, China
e-mail: zhoufan@ccut.edu.cn
Bo Dong
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: dongbo@ccut.edu.cn
Changchun University of Technology,
Changchun 130012, China
e-mail: dongbo@ccut.edu.cn
Keping Liu
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: liukeping@ccut.edu.cn
Changchun University of Technology,
Changchun 130012, China
e-mail: liukeping@ccut.edu.cn
Yuanchun Li
Department of Control Science and Engineering,
Changchun University of Technology,
Changchun 130012, China
e-mail: liyc@ccut.edu.cn
Changchun University of Technology,
Changchun 130012, China
e-mail: liyc@ccut.edu.cn
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received October 9, 2018; final manuscript received January 10, 2019; published online February 18, 2019. Assoc. Editor: Xuebo Zhang.
J. Dyn. Sys., Meas., Control. Jun 2019, 141(6): 061003 (9 pages)
Published Online: February 18, 2019
Article history
Received:
October 9, 2018
Revised:
January 10, 2019
Citation
Li, Y., Lu, Z., Zhou, F., Dong, B., Liu, K., and Li, Y. (February 18, 2019). "Decentralized Trajectory Tracking Control for Modular and Reconfigurable Robots With Torque Sensor: Adaptive Terminal Sliding Control-Based Approach." ASME. J. Dyn. Sys., Meas., Control. June 2019; 141(6): 061003. https://doi.org/10.1115/1.4042550
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