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Optimal Fully Actuated System Approach-Based Trajectory Tracking Control for Robot Manipulators.

Guangtai Tian, Jin Tan, Bin Li

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    Summary
    This summary is machine-generated.

    A new control strategy enhances robot manipulator trajectory tracking by combining a fully actuated system (FAS) with a high-order disturbance observer (HODO) to manage uncertainties and constraints effectively.

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    Area of Science:

    • Robotics
    • Control Systems Engineering
    • Mechatronics

    Background:

    • Robot manipulator control is complex due to unknown dynamics, external disturbances, friction, and physical constraints.
    • Standard fully actuated system (FAS) approaches face limitations in addressing these real-world complexities.
    • Effective trajectory tracking requires robust control strategies that account for model uncertainties and operational limitations.

    Purpose of the Study:

    • To propose a novel trajectory tracking control strategy for robot manipulators.
    • To address the challenges posed by unknown dynamics, external disturbances, and physical constraints in robot motion control.
    • To develop a robust and adaptable control system using an FAS approach integrated with advanced observation and optimization techniques.

    Main Methods:

    • Robot manipulator dynamics were identified using model identification methods.
    • A composite control strategy was designed, integrating a high-order disturbance observer (HODO) in the inner loop and an FAS trajectory tracking controller in the outer loop.
    • Controller gains were optimized using a gradient-based optimal parameter tuning method (OPTM), incorporating joint angle, angular velocity, and input torque constraints.

    Main Results:

    • The proposed HODO effectively handled uncertain dynamics and external disturbances.
    • The OPTM successfully optimized controller gains while ensuring satisfaction of physical constraints (joint angles, velocities, torque limits).
    • Numerical simulations and experimental validation demonstrated the effectiveness and performance of the proposed controller.

    Conclusions:

    • The developed FAS composite control strategy, integrating HODO and OPTM, offers a robust solution for robot manipulator trajectory tracking.
    • The method successfully addresses significant challenges including model uncertainties and physical limitations.
    • The approach provides a flexible and effective framework for advanced robot motion control applications.