Hostname: page-component-586b7cd67f-tf8b9 Total loading time: 0 Render date: 2024-11-27T16:21:41.904Z Has data issue: false hasContentIssue false
  • English
  • Français

Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances

Published online by Cambridge University Press:  26 October 2016

Tarapong Karnjanaparichat  and
Radom Pongvuthithum
Tarapong Karnjanaparichat
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Chiang Mai University, Chiang Mai 50200, Thailand
Radom Pongvuthithum*
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Chiang Mai University, Chiang Mai 50200, Thailand
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, we study the problem of adaptive position tracking for a multi-link robot driven by two opposing pneumatic muscle groups with additive disturbances. In contrast to widely used sliding mode control methods, the proposed controller is continuous and able to prevent chattering. All physical parameters of the robot and the pneumatic muscles, including pneumatic muscle coefficients, link lengths and moments of inertia are unknown and can be time-varying and the unknown additive disturbances can be discontinuous. Under these conditions, we prove that closed-loop trajectories of all of the joint positions can track any C1 joint reference signal. The joint errors will be within a prescribed error bound in a finite time. The adaptive controller only uses the reference signal, not its derivative. The continuous adaptive gain is one-dimensional. Simulations including a two-link robot arm with friction and realistic muscle models are presented to demonstrate the robustness of the adaptive control under severe changes of the system parameters. In all simulations, the joint positions can track C1 trajectories and all errors are within the prescribed error bound in the same time frame, even though the muscle parameters are vastly different.

Keywords

Control of Robotic SystemsRobot DynamicsExoskeletonsAutomationSerial Manipulator Design and Kinematics
Type
Articles
Information
Robotica , Volume 35 , Issue 11 , November 2017 , pp. 2139 - 2156
Copyright
Copyright © Cambridge University Press 2016 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Daerden, F. and Lefeber, D., “The concept and design of pleated pneumatic artificial muscles,” Int. J. Fluid Power 2 (3), 41–50 (2001).CrossRefGoogle Scholar
2. Yarlott, J. M., “Fluid actuator,” U.S. Patent 3 645 173, Feb. 29, (1972).Google Scholar
3. Immega, G. and Kukolj, M., “Axially contractable actuator,” U.S. Patent 4 939 982, (Jul. 10, 1990).Google Scholar
4. Paynter, H. M., “Hyperboloid of revolution fluid-driven tension actuators and methods of making,” U.S. Patent 4 721 030, (Jan. 26, 1988).Google Scholar
5. Andrikopoulos, G., Nikolakopoulos, G. and Manesis, S., “A Survey on Applications of Pneumatic Artificial Muscles,” Proceedings of the MED Conf. Control Autom., Corfu, Greece (Jun. 2011) pp. 1439–1446.Google Scholar
6. Chou, C. P. and Hannaford, B., “Static and Dynamic Characteristics of McKibben Pneumatic Artificial Muscles,” Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, USA (May 1994) pp. 281–286.Google Scholar
7. Chou, C. P. and Hannaford, B., “Measurement and modeling of McKibben pneumatic artificial muscles,” IEEE Trans. Robot. Autom. 12 (1), 90–102 (Feb. 1996).CrossRefGoogle Scholar
8. Tondu, B. and Lopez, P., “Modeling and control of McKibben pneumatic artificial muscle robot actuators,” IEEE Control Syst. 20 (2), 15–38 (Apr. 2000).Google Scholar
9. Repperger, D. W., Johnson, K. R. and Phillips, C. A., “Nonlinear Feedback Controller Design of a Pneumatic Muscle Actuator System,” Proceedings of the Amer. Control Conf., San Diego, CA (Jun. 1999) pp. 1525–1529.Google Scholar
10. Reynolds, D. B., Repperger, D. W., Phillips, C. A. and Bandry, G., “Modeling the dynamic characteristics of pneumatic muscle,” Ann. Biomed. Eng. 31 (3), 310–317 (Mar. 2003).CrossRefGoogle ScholarPubMed
11. Cai, D. W. and Yamaura, H., “A Robust Controller for Manipulator Driven by Artificial Muscle Actuator,” Proceedings of the IEEE International Conference on Control Applications, Dearborn, MI (Sep. 1996) pp. 540–545.Google Scholar
12. Cai, D. W. and Dai, Y., “A Sliding Mode Controller for Manipulator Driven by Artificial Muscle Actuator,” Proceedings of IEEE International Conference on Control Applications, Anchorage, AK (Sep. 2000) pp. 668–673.Google Scholar
13. Zhang, L., Xie, J. and Lu, D., “Adaptive robust control of one-link joint actuated by pneumatic artificial muscles,” Proceedings of IEEE/ICBBE International Conference on Bioinformatics and Biomedical Engineering, Wuhan, Hubei, China (Jul. 2007) pp. 1185–1189.CrossRefGoogle Scholar
14. Lilly, J. H. and Quesada, P. M., “A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups,” IEEE Trans. Neural Syst. Rehabil. Eng. 12 (3), 349–359 (Sep. 2004).Google Scholar
15. Lilly, J. H. and Yang, L., “Sliding mode tracking for pneumatic muscle actuators in opposing pair configuration,” IEEE Trans. Control Syst. Technol. 13 (4), 550–558 (Jul. 2005).Google Scholar
16. Xing, K., Huang, J., Wang, Y., Wu, J., Xu, Q. and He, J., “Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer,” IET Control Theory Appl. 4 (10), 2058–2070 (Oct. 2010).Google Scholar
17. Choi, T. Y., Choi, B. S. and Seo, K. H., “Position and compliance control of a pneumatic muscle actuated manipulator for enhanced safety,” IEEE Trans. Control Syst. Technol. 19 (4), 832–842 (Jul. 2011).CrossRefGoogle Scholar
18. Aschemann, H. and Schindele, D., “Sliding-mode control of a high-speed linear axis driven by pneumatic muscle actuators,” IEEE Trans. Ind. Electron. 55 (11), 3855–3864 (Nov. 2008).Google Scholar
19. Van Damme, M., Vanderborght, B., Verrelst, B., Van Ham, R., Daerden, F. and Lefeber, D., “Proxy-based sliding mode control of a planar pneumatic manipulator,” Int. J. Robot. Res. 28 (2), 266–284 (Feb. 2009).Google Scholar
20. Beyl, P., Van Damme, M., Van Ham, R., Versluys, R., Vanderborght, B. and Lefeber, D., “An Exoskeleton for Gait Rehabilitation: Prototype Design and Control Principle,” Proceedings of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA (May 2008) pp. 2037–2042.CrossRefGoogle Scholar
21. Choi, T. Y. and Lee, J. J., “Control of manipulator using pneumatic muscles for enhanced safety,” IEEE Trans. Ind. Electron. 57 (8), 2815–2825 (Aug. 2010).CrossRefGoogle Scholar
22. Hussain, S., Xie, S. Q. and Jamwal, P. K., “Robust nonlinear control of an intrinsically compliant robotic gait training orthosis,” IEEE Trans. Syst. Man Cybern. A 43 (3), 655–665 (May 2013).CrossRefGoogle Scholar
23. Wu, J., wang, T. and Xing, K., “Nonlinear disturbance observer-based dynamic surface control for trajectory tracking of pneumatic muscle system,” IEEE Trans. Control Syst. Technol. 22 (2), 440–455 (Mar. 2014).Google Scholar
24. Lilly, J. H., “Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations,” IEEE Trans. Neural Syst. Rehabil. Eng. 11 (3), 333–339 (Sep. 2003).Google Scholar
25. Tonietti, G. and Bicchi, A., “Adaptive Simultaneous Position and Stiffness Control for a Soft Robot Arm,” Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems, Lausanne, Switzerland, vol. 2, (Oct. 2002) pp. 1992–1997.Google Scholar
26. Xu, Y., “Chattering free robust control for nonlinear systems,” IEEE Trans. Control Syst. Technol. 16 (6), 1352–1359 (Nov. 2008).Google Scholar
27. Potluri, R., “Comments on ‘chattering free robust control for nonlinear systems’,” IEEE Trans. Control Syst. Technol. 20 (2), 562 (Mar. 2012).Google Scholar
28. Xu, Y. and Li, N., “Authors' reply to “comments on ‘chattering free robust control for nonlinear systems’”,” IEEE Trans. Control Syst. Technol. 20 (2), 563 (Mar. 2012).Google Scholar
29. Xiong, C. H., Jiang, X. Z., Sun, R. L., Huang, X. L. and Xiong, Y. L., “Control methods for exoskeleton rehabilitation robot driven with pneumatic muscles,” Ind. Robot: An Int. J. 36 (3), 210–220 (2009).CrossRefGoogle Scholar
30. Kawashima, K., Sasaki, T., Ohkubo, A., Miyata, T. and Kagawa, T., “Application of robot arm using fiber knitted type pneumatic artificial rubber muscles,” Proceedings of the IEEE Conf. Robot. Autom., New Orleans, LA, USA (Apr.-May 2004) pp. 4937–4942.Google Scholar
31. Chang, M.-K., “An adaptive self-organizing fuzzy sliding mode controller for a 2-DOF rehabilitation robot actuated by pneumatic muscle actuators,” Control Eng. Practice 18 (1), 13–22 (Jan. 2010).CrossRefGoogle Scholar
32. Jahanabadi, H., Mailah, M., Md Zain, M. Z. and Hooi, H. M., “Active force with fuzzy logic control of a two-link arm driven by pneumatic artificial muscles,” J. Bionic Eng. 8 (4), 474–484 (Dec. 2011).Google Scholar
33. Thanh, TU D. C. and Ahn, K. K., “Nonlinear PID control to improve the control performance of 2 axes pneumatic artificial muscle manipulator using neural network,” Mechatronics 16 (9), 577–587 (Nov. 2006).Google Scholar
34. Ahn, K. K. and Anh, H. P. H., “Comparative study of modeling and identification of the pneumatic artificial muscle (PAM) manipulator using recurrent neural networks,” J. Mech. Sci. Technol. 22 (7), 1287–1298 (Jul. 2008).Google Scholar
35. Schindele, D. and Aschemann, H., “ILC for a Fast Linear Axis Driven by Pneumatic Muscle Actuators,” Proceedings of IEEE International Conference on Mechatronics (ICM), Istanbul, Turkey (Apr. 2011) pp. 967–972.Google Scholar
36. Schindele, D. and Aschemann, H., “P-type ILC with Phase Lead Compensation for a Pneumatically Driven Parallel Robot,” Proceedings of the American Control Conference 2012 (ACC), Montreal, Canada (Jun. 2012) pp. 5484–5489.Google Scholar
37. Karnjanaparichat, T. and Pongvuthithum, R., “Adaptive control for a one-link robot arm actuated by pneumatic muscles,” Chiang Mai J. Sci. 35 (3), pp. 437–446 (Sep. 2008).Google Scholar