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WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control

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A Hybrid State/Disturbance Observer-Based Feedback Control of Robot with Multiple Constraints.

Du Xu¹, Tete Hu¹, Ying Ma²

¹School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China.

Sensors (Basel, Switzerland)

|December 11, 2022

Summary

This study introduces a novel hybrid observer and control method for robot manipulators, enhancing performance under constraints like hysteresis and saturation. The advanced control ensures precise tracking without violating operational limits.

Keywords:

hybrid observer input and output constraints manipulator trajectory tracking control

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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Area of Science:

Robotics
Control Systems Engineering
Mechatronics

Background:

Robot manipulator control is challenging due to inherent nonlinearities (hysteresis, deadzone, saturation) and external disturbances.
Existing control methods often struggle to simultaneously address these issues while maintaining performance and safety constraints.

Purpose of the Study:

To develop a robust control mechanism for robot manipulators that overcomes limitations like hysteresis, deadzone, saturation, and actuator disturbances.
To ensure precise control performance and adherence to multiple operational constraints.

Main Methods:

A hybrid state/disturbance observer is proposed to estimate unmeasurable states and external disturbances concurrently.
A barrier Lyapunov function is utilized to manage output saturation constraints.
A back-stepping control approach is implemented to achieve high control performance under multiple constraints.

Main Results:

Simulations on a 2-DOF robot and experiments on a 6-DOF robot demonstrate effective control performance.
The proposed method shows superiority compared to commonly used and intelligent control techniques.
Experimental results confirm excellent tracking performance across all joints of a 6-DOF robot without constraint violations.

Conclusions:

The hybrid state/disturbance observer-based multiple-constraint control mechanism effectively addresses challenges in robot manipulator control.
The proposed controller ensures robust performance and constraint satisfaction in practical robotic applications.
This approach offers a significant advancement for precise and safe robot manipulator operation.