New energy-shaping based control plus an integral action for torque-driven robot manipulators using coordinate changes

https://doi.org/10.58571/CNCA.AMCA.2022.062

Resumen: This paper presents a robust energy shaping control for joint position tracking of torque-driven robot manipulators against disturbances. The controller design is based on an alternative energy shaping method, and an integral action is added to the theoretical framework as a novel strategy. Our contribution is to globally achieve joint position tracking of torque-driven robot manipulators, even in the presence of constant disturbances. The performance of the proposed controller is illustrated through experiments of a two degrees of freedom direct-drive robot arm.

¿Cómo citar?

Cervantes, L., Santibáñez, V. & Sandoval, J. New energy-shaping based control plus an integral action for torque-driven robot manipulators using coordinate changes. Memorias del Congreso Nacional de Control Automático, pp. 205-211, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.062

Palabras clave

Control Robusto; Control Basado en pasividad

• Campa, R., Kelly, R. y Santib´a˜nez, V. (2004). Windowsbased real-time control of direct-drive mechanisms: platform description and experiments. Mechatronics, 14(9), 1021:1036.
• Donaire, A. y Junco, S. (2009). Brief paper: on the addition of integral action to port-controlled hamiltonian systems. Automatica, 45(8), 1910:1916.
• Fujimoto, K., Sakurama, K. y Sugie, T. (2003). Trajectory tracking control of port-controlled hamiltonian systems via generalized canonical transformations. Automatica, 39(12), 2059:2069.
• Fujimoto, K., Sakurama, K. y Sugie, T. (2004). Trajectory tracking control of nonholonomic hamiltonian systems via generalized canonical transformations. European Journal of Control, 10(5), 421:431.
• Kelly, R., Sandoval, J. y Santibáñez, V. (2021). AGUAS joint position tracking controller of torquedriven robot manipulators influenced by dynamic Dahl friction: theory and experiments. IEEE Transactions on Control Systems Technology, 29(5), 1877-1890.
• Kelly, R. y Santibáñez, V. (2003). Control de movimiento de robots manipuladores. Pearson Educación. Kelly, R., Santibáñez, V. y Loría, A. (2006). Control of robot manipulators in joint space. Springer London.
• Khalil, H. (2002). Nonlinear systems (3rd ed.). Prentice-Hall.
• Ortega, R. y García-Canseco, E. (2004). Interconnection and damping assignment passivity-based control: a survey. European Journal of Control, 10(5), 432:450.
• Ortega, R., Loría, A., Nicklasson, P. y Sira-Ramírez, H. (1998). Passivity-based control of euler-lagrange systems: mechanical, electrical and electromechanical applications. Springer London.
• Ortega, R., Romero, J.G., Borja, P. y Donaire, A. (2021). PID passivity-based control of nonlinear systems with applications. John Wiley and Sons, Ltd.
• Ortega, R., Spong, M., Gomez-Estern, F. y Blankenstein, G. (2002). Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Transactions on Automatic Control, 47(8), 1213:1233.
• Reyes, F. y Kelly, R. (1997). Experimental evaluation of identificaction schemes on a direct–drive robot. Robotica, 15(5), 563:571.
• Reyes, F. y Kelly, R. (2001). Experimental evaluation of model-based controllers on a drive robot arm. Mechatronics, 11(3), 267:282.
• Sandoval, J., Kelly, R., Santibáñez, V., y Chin-Villalobos J. (2022). Energy regulation of torque-driven robot manipulators in joint space. Journal of the Franklin Institute, 359, 1427:1456.
• Takegaki, M. y Arimoto, S. (1981). A new feedback method for dynamic control of manipulators. Journal of Dynamic Systems, Measurement, and Control, 103(2), 119:125.