Inverse-Dynamics- and disturbance-Observer-Based tube model predictive tracking control of uncertain robotic manipulator |
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| Institution: | 1. Communication Engineering Department, Al-Hussein Bin Talal University, Ma’an, Jordan;2. Electrical Engineering Department, Al-Hussein Bin Talal University, Ma’an, Jordan;3. Computer Engineering Department, The University of Jordan, Amman, Jordan;4. Telecommunication Engineering Department, Yarmouk University, Irbid, Jordan;1. Graduate School of Information Science and Technology, Osaka University, Yamadaoka 1-5, Suita565-0871, Osaka, Japan;2. Department of Mathematics and Statistics, Texas Tech University, 1108 Memorial Circle, Lubbock79409, TX, USA;1. Department of Control Science and Engineering, Tongji University, Shanghai 200092, China;2. Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education, East China University of Science and Technology, Shanghai 200237, China;3. School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China;1. Department of Chemical Engineering, Indian Institute of Technology Delhi, New Delhi, India;2. Yardi School of Artificial Intelligence, Indian Institute of Technology Delhi, New Delhi, India;3. Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, India;4. Nuclear Power Corporation of India, Anushakti Nagar, Mumbai, Maharashtra, India |
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| Abstract: | A novel robust hierarchical multi-loop composite control scheme is proposed for the trajectory tracking control of robotic manipulators subject to constraints and disturbances. The inner loop based on inverse dynamics control is used to reduce the nonlinear tracking error system to a set of decoupled linear subsystems to alleviate the computational effort during the sequel optimization. The feasible regions of the equivalent state and control input of each subsystem can be computed efficiently by choosing an appropriate inertia matrix estimate. The external loop, relying on a set of separate disturbance-observer-based tube model predictive composite controllers, is used to robustly stabilize the decoupled subsystems. In particular, the disturbance observers are designed to compensate for the disturbances actively, while the tube model predictive controllers are used to reject the residual disturbances. The robust tightened constraints are obtained by calculating the outer-bounding-tube-type residual disturbance invariant sets of the closed-loop subsystems. Furthermore, the recursive feasibility and input-to-state stability of the closed-loop system are investigated. The effectiveness of the proposed control scheme is verified by the simulation experiment on a PUMA 560 robotic manipulator. |
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