In this study, a task-space adaptive robust control methodology which takes uncertainties and external disturbances into account is proposed for a class of duct cleaning mobile manipulators. First of all, the configuration of the real duct cleaning robot is introduced, and the Jacobian matrix and the dynamic model of the real robotic system are obtained. Then, the structure of adaptive robust controller based on sliding mode control (SMC) approach and the fuzzy wavelet neural network is detailed, the proposed control approach combines the advantages of SMC which can suppress the external disturbances with the fuzzy wavelet neural network which can compensate the uncertainties by its strong ability to approximate a nonlinear function to an arbitrary accuracy, the stability of the whole robotic control system, the uniformly ultimately boundedness of tracking errors, and the boundedness of fuzzy wavelet neural networks weight estimation errors are all guaranteed based on the Lyapunov stability theory. Finally, simulation results are presented to demonstrate the superior performance of the proposed approach, and experiments are given to illustrate that the proposed approach is useful for real duct cleaning robot system with well performance.
Issue Section:
Research Papers
References
1.
Pavlov
, V.
, 1976
, “Construction and Stabilization of Programmed Movement of a Mobile Robot-Manipulator
,” Eng. Cybern.
, 14
(6
), pp. 70
–79
.2.
Watanabe
, K.
, Sato
, K.
, Izumi
, K.
, and Kunitake
, Y.
, 2000
, “Analysis and Control for Omnidirectional Mobile Manipulator
,” J. Intell. Rob. Syst.
, 27
(1/2
), pp. 3
–20
.3.
Khatib
, O.
, 1999
, “Mobile Manipulation: The Robotic Assistant
,” Rob. Autom. Syst.
, 26
(2/3
), pp. 157
–183
.4.
Dong
, W.
, 2002
, “On Trajectory and Force Tracking Control of Constrained Mobile Manipulators With Parameter Uncertainty
,” Automatica
, 38
(9
), pp. 1475
–1484
.5.
Cho
, H. C.
, Fadali
, S.
, and Lee
, K. S.
, 2010
, “Adaptive Position and Trajectory Control of Autonomous Mobile Robot Systems With Random Friction
,” IET Control Theory Appl.
, 12
(4
), pp. 2733
–2742
.6.
Boukattaya
, M.
, Damak
, T.
, and Jallouli
, M.
, 2011
, “Robust Adaptive Control for Mobile Manipulators
,” Int. J. Autom. Comput.
, 8
(1
), pp. 8
–13
.7.
Li
, T. H. S.
, and Huang
, Y. C.
, 2010
, “MIMO Adaptive Fuzzy Terminal Sliding-Mode Controller for Robotic Manipulators
,” Inf. Sci.
, 180
(23
), pp. 4641
–4660
.8.
Gao
, F. Z.
, Yuan
, F. S.
, and Yao
, H. J.
, 2010
, “Robust Adaptive Control for Nonholonomic Systems With Nonlinear Parameterization
,” Nonlinear Anal.: Real World Appl.
, 11
(4
), pp. 3242
–3250
.9.
Yamamoto
, Y.
, and Yun
, X.
, 1996
, “Effect of Dynamic Interaction on Coordinated Control of Mobile Manipulators
,” IEEE Trans. Rob. Autom.
, 12
(5
), pp. 816
–824
.10.
Padopoulos
, E.
, and Poulakakis
, J.
, 2000
, “Planning and Model Based Control for Mobile Manipulators
,” IEEE/RSJ Conference on Robots and Systems
(IROS
), Takamatsu, Japan, Oct. 31–Nov 5, pp. 1810
–1815
.11.
Liu
, G.
, 2001
, “Control of Robotic Manipulators With Consideration of Actuator Performance Degradation and Failures
,” IEEE International Conference on Robotics and Automation
(ICRA
), Seoul, South Korea, May 21–26, pp. 2566
–2571
.12.
Berghuis
, H.
, Ortega
, R.
, and Nijmeijer
, H.
, 1993
, “A Robust Adaptive Robot Controller
,” IEEE Trans. Rob. Autom.
, 9
(6
), pp. 825
–830
.13.
Islam
, S.
, and Liu
, X.
, 2011
, “Robust Adaptive Fuzzy Output Feedback Control System Foe Robot Manipulators
,” IEEE Trans. Mechatronics
, 16
(2
), pp. 288
–296
.14.
Chang
, Y. C.
, and Chen
, B. S.
, 2009
, “Robust Tracking Design for Both Holonomic and Nonholonomic Constrained Mechanical Systems: Adaptive Fuzzy Approach
,” IEEE Trans. Fuzzy Syst.
, 8
(1
), pp. 46
–66
.15.
Liu
, G.
, and Glodenberg
, A.
, 1997
, “Robust Control of Robot Manipulators Based on Dynamics Decomposition
,” IEEE Trans. Rob. Autom.
, 13
(5
), pp. 783
–789
.16.
Hua
, G.
, Guan
, X.
, and Duan
, G.
, 2004
, “Variable Structure Adaptive Fuzzy Control for a Class of Nonlinear Time Delay Systems
,” Fuzzy Sets Syst.
, 148
(3
), pp. 453
–468
.17.
Yi
, S. Y.
, and Chung
, M. J.
, 1997
, “A Robust Fuzzy Logic Controller for Robot Manipulators With Uncertainties
,” IEEE Trans. Syst., Man, Cybern.,-Part B
, 27
(4
), pp. 706
–713
.18.
Aloui
, S.
, Pagès
, O.
, El Hajjaji
, A.
, Chaari
, A.
, and Koubaa
, Y.
, 2011
, “Improved Fuzzy Sliding Mode Control for a Class of MIMO Nonlinear Uncertain and Perturbed Systems
,” Apply Soft Comput.
, 11
(1
), pp. 820
–826
.19.
Li
, Z.
, Chen
, W.
, and Luo
, J.
, 2008
, “Adaptive Compliant Force-Motion Control of Coordinate Nonholonomic Mobile Manipulators Interacting With Unknown Non-Rigid Environment
,” Neuro Comput.
, 7
(10
), pp. 1330
–1344
.20.
Ata
, A. A.
, 2010
, “Dynamic Modeling and Numerical Simulation of a Non-Holonomic Mobile Manipulator
,” Int. J. Mech. Mater. Des.
, 6
(3
), pp. 209
–216
.21.
Li
, Z.
, Ge
, S. S.
, Adams
, M.
, and Wijesoma
, W. S.
, 2008
, “Robust Adaptive Control of Uncertain Force/Motion Constrained Nonholonomic Mobile Manipulators
,” Automatica
, 44
(3
), pp. 776
–784
.22.
Ryu
, J.-C.
, and Agrawal
, K.
, 2010
, “Planning and Control of Under-Actuated Mobile Manipulators Using Differential Flatness
,” Auton. Rob.
, 29
(1
), pp. 35
–52
.23.
Lin
, S.
, and Goldenberg
, A. A.
, 2001
, “Neural-Network Control of Mobile Manipulators
,” IEEE Trans. Neural Networks
, 12
(5
), pp. 1121
–1133
.24.
Cheng
, L.
, Hou
, Z. G.
, and Tan
, M.
, 2009
, “Adaptive Neural Network Tracking Control for Manipulators With Uncertain Kinematics, Dynamics and Actuator Model
,” Automatica
, 45
(10
), pp. 2312
–2318
.25.
Zuo
, Y.
, Wang
, Y.
, Zhang
, Y.
, Liu
, X.
, Huang
, L.
, Wu
, X.
, and Wang
, Z.
, 2011
, “Intelligent Robust Tracking Control for Multi-Arm Mobile Manipulators Using a Fuzzy Cerebellar Model Articulation Controller Neural Network
,” J. Mech. Eng. Sci.
, 225
(5
), pp. 1131
–1146
.26.
Li
, Z.
, and Yang
, C.
, 2007
, “Neuro-Adaptive Compliant Forde/Motion Control of Uncertain Constrained Wheeled Mobile Manipulators
,” Int. J. Rob. Autom.
, 22
(3
), pp. 206
–214
.27.
Liang
, X. W.
, Huang
, X. H.
, and Wang
, M.
, 2010
, “Adaptive Task-Space Tracking Control of Robot Without Task-Space- and Joint-Space Velocity Measurement
,” IEEE Trans. Rob.
, 26
(4
), pp. 733
–742
.28.
Cheah
, C. C.
, Liu
, C.
, and Slotine
, E.
, 2006
, “Adaptive Tracking Control for Robots With Unknown Kinematic and Dynamic Properties
,” Int. J. Rob., Res.
, 25
(3
), pp. 283
–296
.29.
Cheah
, C. C.
, Liu
, C.
, and Slotine
, E.
, 2006
, “Adaptive Tracking Control for Robots With Uncertainties in Kinematic, Dynamic, Actuator Models
,” IEEE Trans. Autom. Control
, 51
(6
), pp. 1024
–1029
.30.
Galicki
, M.
, 2008
, “An Adaptive Regulator of Robotic Manipulators in Task Space
,” IEEE Trans. Autom. Control
, 53
(4
), pp. 1058
–1062
.31.
Seraji
, H.
, 1998
, “A Unified Approach to Motion Control of Mobile Manipulators
,” Int. J. Rob. Res.
, 17
(2
), pp. 107
–118
.32.
Fruchard
, M.
, Morin
, P.
, and Samson
, C.
, 2006
, “A Framework for the Control of Nonholonomic Mobile Manipulators
,” Int. J. Rob. Res.
, 25
(8
), pp. 745
–780
.33.
Galicki
, M.
, 2005
, “Control-Based Solution to Inverse Kinematic for Mobile Manipulators Using Penalty Functions
,” J. Intell. Rob. Syst.
, 42
(3
), pp. 213
–238
.34.
Galicki
, M.
, 2011
, “Task Space Control of Mobile Manipulators
,” Robotica
, 29
(2
), pp. 221
–232
.35.
Boukattaya
, M.
, Damak
, T.
, and Jallouli
, M.
, 2011
, “Adaptive Robust Tracking Control for Mobile Manipulators in the Task-Space Under Uncertainties
,” Int. J. Intell. Comput. Cybern.
, 4
(1
), pp. 81
–92
.36.
Mazur
, A.
, 2010
, “Trajectory Tracking Control in Workspace-Defined Task for Nonholonomic Mobile Manipulators
,” Robotica
, 28
(1
), pp. 57
–68
.37.
Li
, Z.
, and Chen
, W. D.
, 2008
, “Adaptive Neural-Fuzzy Control of Uncertain Constrained Multiple Coordinated Nonholonomic Mobile Manipulators
,” Eng. Appl. Artif. Intell.
, 21
(7
), pp. 985
–1000
.38.
Zeinali
, M.
, and Notash
, L.
, 2010
, “Adaptive Sliding Mode Control With Uncertainty Estimator for Robot Manipulators
,” Mech. Mach. Theory
, 45
(1
), pp. 80
–90
.39.
Chuan
, K. L.
, 2006
, “Nonsingular Terminal Sliding Mode Control of Robot Manipulators Using Fuzzy Wavelet Networks
,” IEEE Trans. Fuzzy Syst.
, 14
(6
), pp. 849
–859
.40.
Boukattaya
, M.
, Jallouli
, M.
, and Damak
, T.
, 2012
, “On Trajectory Tracking Control for Nonholonomic Mobile Manipulators With Dynamic Uncertainties and External Torque Disturbances
,” Rob. Auton. Syst.
, 60
(12
), pp. 1640
–1647
.41.
Xu
, D.
, and Zhao
, D. B.
, 2009
, “Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach
,” IEEE Trans. Syst., Man, Cybern.-Part B
, 39
(3
), pp. 788
–799
.42.
Hwang
, C.-L.
, Chang
, L.-J.
, and Yu
, Y.-S.
, 2007
, “Network-Based Fuzzy Decentralized Sliding-Mode Control for Car-Like Mobile Robots
,” IEEE Trans. Ind. Electron.
, 54
(1
), pp. 574
–585
.43.
Soewandito
, B.
, Oetomo
, D.
, and Ang
, H.
, 2011
, “Neuro-Adaptive Motion Control With Velocity Observer in Operational Space Formulation
,” Rob. Comput.-Integr. Manuf.
, 27
(4
), pp. 829
–842
.44.
Bu
, X.
, Sun
, W.
, and Yu
, S.
, 2015
, “Adaptive Robust Control Based on RBF Neural Networks for Duct Cleaning Robot
,” Int. J. Control, Autom., Syst.
, 13
(2
), pp. 475
–487
.45.
Chen
, C.-Y.
, Li
, T.-H. S.
, Yeh
, Y.-C.
, and Chang
, C.-C.
, 2009
, “Design and Implementation of an Adaptive Sliding-Mode Dynamic Controller for Wheeled Mobile Robots
,” Mechatronics
, 19
(2
), pp. 156
–166
.46.
Wu
, X.
, Wang
, Y.
, and Dang
, X.
, 2014
, “Robust Adaptive Sliding-Mode Control of Condenser-Cleaning Mobile Manipulator Using Fuzzy Wavelet Neural Network
,” Fuzzy Sets Syst.
, 235
, pp. 62
–82
.47.
Karray
, A.
, and Feki
, M.
, 2014
, “Adaptive and Sliding Mode Control of a Mobile Manipulator Actuated by DC Motors
,” Int. J. Autom. Control
, 8
(2
), pp. 173
–190
.48.
Ha
, H. W.
, Yoon
, H. N.
, Kim
, Y. K.
, Lee
, D. H.
, and Lee
, J. M.
, 2015
, “Model Prediction Control of Two Wheeled Mobile Manipulator
,” International Conference on Intelligent Robotics and Applications
(ICIRA
), Portsmouth, UK, Aug. 24–27, pp. 164
–172
.Copyright © 2019 by ASME
You do not currently have access to this content.
