Skip to main content
SpringerLink
Log in

A Novel Decentralized Fixed-time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification

  • Regular Papers
  • Robot and Applications
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

This paper presents a novel decentralized fixed-time tracking control approach, which realizes the advantages of modular robot manipulators (MRMs) with fixed-time convergence, strong robustness, and high tracking performance. First, to estimate the total uncertainty of MRMs, the fixed-time observer based on the extended state is developed. Then, combined with the disturbance observer, a novel decentralized control method based on a fixed-time control strategy was devised to accomplish global fixed-time convergence of MRMs. And, stability analysis based on Lyapunov is utilized to obtain the fixed-time stability as well as convergence time of MRMs. Finally, numerical analysis and experiment respectively verify the excellent tracking ability of the presented decentralized fixed-time tracking control.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. A. Yun, D. Moon, J. Ha, S. Kang, and W. Lee, “ModMan: An advanced reconfigurable manipulator system with genderless connector and automatic kinematic modeling algorithm,” IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4225–4232, 2020.

    Article  Google Scholar 

  2. H. D. Yang and A. T. Asbeck, “Design and characterization of a modular hybrid continuum robotic manipulator,” IEEE/ASME Transactions on Mechatronics, vol. 25, no. 6, pp. 2812–2823, 2020.

    Article  Google Scholar 

  3. Q. X. Wu, X. K. Wang, L. Hua, and M. H. Xia, “Modeling and nonlinear sliding mode controls of double pendulum cranes considering distributed mass beams, varying roped length and external disturbances,” Mechanical Systems and Signal Processing, vol. 158, 107756, 2021.

    Article  Google Scholar 

  4. R. Hu, H. Deng, and Y. Zhang, “Novel dynamic-sliding-mode-manifold-based continuous fractional-order nonsingular terminal sliding mode control for a class of second-order nonlinear systems,” IEEE Access, vol. 8, pp. 19820–19829, 2020.

    Article  Google Scholar 

  5. H. Zhu, J. Shen, K. Y. Lee, and L. Sun, “Multi-model based predictive sliding mode control for bed temperature regulation in circulating fluidized bed boiler,” Control Engineering Practice, vol. 101, 104484, 2020.

    Article  Google Scholar 

  6. Z. Wang, Y. Liu, Z. Guan, and Y. Zhang, “An adaptive sliding mode motion control method of remote operated vehicle,” IEEE Access, vol. 9, pp. 22447–22454, 2021.

    Article  Google Scholar 

  7. V. T. Do, S. G. Lee, and J. H. Kim, “Robust integral back-stepping hierarchical sliding mode controller for a ballbot system,” Mechanical Systems and Signal Processing, vol. 144, 106866, 2020.

    Article  Google Scholar 

  8. K. Rsetam, Z. Cao, and Z. Man, “Cascaded extended state observer based sliding mode control for underactuated flexible joint robot,” IEEE Transactions on Industrial Electronics, vol. 67, no. 12, pp. 10822–10832, 2020.

    Article  Google Scholar 

  9. S. Yu, X. Yu, B. Shirinzadeh, and Z. Man, “Continuous finite-time control for robotic manipulators with terminal sliding mode,” Automatica, vol. 41, no. 11, pp. 1957–1964, 2005.

    Article  MathSciNet  MATH  Google Scholar 

  10. L. Ren, G. Lin, Y. Zhao, Z. Liao, and F. Peng, “Adaptive nonsingular finite-time terminal sliding mode control for synchronous reluctance motor,” IEEE Access, vol. 9, pp. 51283–51293, 2021.

    Article  Google Scholar 

  11. Y. Chu, S. Hou, and J. Fei, “Continuous terminal sliding mode control using novel fuzzy neural network for active power filter,” Control Engineering Practice, vol. 109, no. 4, 104735, 2021.

    Article  Google Scholar 

  12. J. Pliego-Jiménez, M. A. Arteaga-Pérez, and M. López-Rodríguez, “Finite-time control for rigid robots with bounded input torques,” Control Engineering Practice, vol. 102, no. 1, 104556, 2020.

    Article  Google Scholar 

  13. Y. J. Wu and G. F. Li, “Adaptive disturbance compensation finite control set optimal control for PMSM systems based on sliding mode extended state observer,” Mechanical Systems and Signal Processing, vol. 98, pp. 402–414, 2018.

    Article  Google Scholar 

  14. Ruchika and N. Kumar, “Finite time control scheme for robot manipulators using fast terminal sliding mode control and RBFNN,” International Journal of Dynamics and Control, vol. 7, no. 6, pp. 758–766, 2019.

    Article  MathSciNet  Google Scholar 

  15. B. Ren, Y. Wang, and J. Chen, “A novel robust finite-time trajectory control with the high-order sliding mode for human-robot cooperation,” IEEE Access, vol. 7, pp. 130874–130882, 2019.

    Article  Google Scholar 

  16. M. Van, S. S. Ge, and H. Ren, “Finite time fault tolerant control for robot manipulators using time delay estimation and continuous nonsingular fast terminal sliding mode control,” IEEE Transactions on Cybernetics, vol. 47, no. 7, pp. 1681–1693, 2017.

    Article  Google Scholar 

  17. Y. Li, Z. Lu, F. Zhou, B. Dong, and Y. Li, “Decentralized trajectory tracking control for modular and reconfigurable robots with torque sensor: Adaptive terminal sliding control-based approach,” Journal of Dynamic Systems Measurement and Control, vol. 141, no. 6, 061003, 2019.

    Article  Google Scholar 

  18. G. Zhong, C. Wang, and W. Dou, “Fuzzy adaptive PID fast terminal sliding mode controller for a redundant manipulator,” Mechanical Systems and Signal Processing, vol. 159, no. 6, 107577, 2021.

    Article  Google Scholar 

  19. D. Cruz-Ortiz, I. Chairez, and A. Poznyak, “Non-singular terminal sliding-mode control for a manipulator robot using a barrier Lyapunov function,” ISA Transactions, vol. 121, pp. 268–283, 2022.

    Article  Google Scholar 

  20. Z. Y. Zuo, “Non-singular fixed-time terminal sliding mode control of non-linear systems,” IET Control Theory & Applications, vol. 9, no. 4, pp. 545–552, 2015.

    Article  MathSciNet  Google Scholar 

  21. B. Oma, L. Xu, Y. Huang, M. Shi, and X. Xie, “Observer-based fixed-time continuous nonsingular terminal sliding mode control of quadrotor aircraft under uncertainties and disturbances for robust trajectory tracking: Theory and experiment,” Control Engineering Practice, vol. 111, 104806, 2021.

    Article  Google Scholar 

  22. S. Song, H. P. Ju, B. Zhang, and X. Song, “Event-triggered adaptive practical fixed-time trajectory tracking control for unmanned surface vehicle,” IEEE Transactions on Circuits and Systems II: Express Briefs, vol. 68, no. 1, pp. 436–440, 2021.

    Google Scholar 

  23. L. Cao, B. Xiao, and M. Golestani, “Robust fixed-time attitude stabilization control of flexible spacecraft with actuator uncertainty,” Nonlinear Dynamics, vol. 100, pp. 2505–2519, 2020.

    Article  MATH  Google Scholar 

  24. Y. Wu, G. Li, Z. Zuo, X. Liu, and P. Xu, “Practical fixed-time position tracking control of permanent magnet DC torque motor systems,” IEEE/ASME Transactions on Mechatronics, vol. 26, no. 1, pp. 563–573, 2021.

    Google Scholar 

  25. F. Sun, H. Li, W. Zhu, and J. Kurths, “Fixed-time formation tracking for multiple nonholonomic wheeled mobile robots based on distributed observer,” Nonlinear Dynamics, vol. 106, pp. 3331–3349, 2021.

    Article  Google Scholar 

  26. L. Zhang, H. Liu, D. Tang, Y. Hou, and Y. Wang, “Adaptive fixed-time fault-tolerant tracking control and its application for robot manipulators,” IEEE Transactions on Industrial Electronics, vol. 69, no. 3, pp. 2956–2966, 2021.

    Article  Google Scholar 

  27. S. Chang, Y. Wang, and Z. Zuo, “Fixed-time active disturbance rejection control and its application to wheeled mobile robots,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 51, no. 11, pp. 7120–7130, 2021.

    Article  Google Scholar 

  28. Y. Su, C. Zheng, and P. Mercorelli, “Robust approximate fixed-time tracking control for uncertain robot manipulators,” Mechanical Systems and Signal Processing, vol. 135, 106379, 2020.

    Article  Google Scholar 

  29. C. L. Hwang, W. S. Yu, W.S., and H. B. Abebe, “Tracking and cooperative designs of robot manipulators using adaptive fixed-time fault-tolerant constraint control,” IEEE Access, vol. 8, pp. 56415–56428, 2020.

    Article  Google Scholar 

  30. A. Altan and R. Hacıog, “Model predictive control of three-axis gimbal system mounted on UAV for real-time target tracking under external disturbances,” Mechanical Systems and Signal Processing, vol. 138, 106548, 2020.

    Article  Google Scholar 

  31. X. L. Shao, N. Z. Liu, Q. Wang, W. Zhang, and W. Yang, “Neuroadaptive integral robust control of visual quadrotor for tracking a moving object,” Mechanical Systems and Signal Processing, vol. 136, 106513, 2020.

    Article  Google Scholar 

  32. S. K. Kommuri, S. Han, and S. Lee, “External torque estimation using higher-order sliding mode observer for robot manipulators,” IEEE/ASME Transactions on Mechatronics, vol. 27, no. 1, pp. 513–523, 2022.

    Article  Google Scholar 

  33. T. Zhao, X. Zou, and S. Dian, “Fixed-time observer-based adaptive fuzzy tracking control for Mecanum-wheel mobile robots with guaranteed transient performance,” Nonlinear Dynamics, vol. 107, pp. 921–937, 2022.

    Article  Google Scholar 

  34. H. Wang, Z. Zuo, Y. Wang, H. Yang, and S. Chang, “Composite nonlinear extended state observer and its application to unmanned ground vehicles,” Control Engineering Practice, vol. 109, no. 7, 104731, 2021.

    Article  Google Scholar 

  35. A. Ka and B. Rm, “Cascade extended state observer for active disturbance rejection control applications under measurement noise,” ISA Transactions, vol. 109, pp. 1–10, 2021.

    Article  Google Scholar 

  36. L. Cui and N. Jin, “Prescribed-time ESO-based prescribed-time control and its application to partial IGC design,” Nonlinear Dynamics, vol. 106, pp. 491–508, 2021.

    Article  Google Scholar 

  37. G. Liu, S. Abdul, and A. A. Goldenberg, “Distributed control of modular and reconfigurable robot with torque sensing,” Robotica, vol. 26, no. 1, pp. 75–84, 2008.

    Article  Google Scholar 

  38. G. Liu, “Decomposition-based friction compensation of mechanical systems,” Mechatronics, vol. 12, no. 5, pp. 755–769, 2002.

    Article  Google Scholar 

  39. G. Liu, A. A. Goldenberg, and Y. Zhang, “Precise slow motion control of a direct-drive robot arm with velocity estimation and friction compensation,” Mechatronics, vol. 14, no. 7, pp. 821–834, 2004.

    Article  Google Scholar 

  40. H. Li and Y. Cai, “On SFTSM control with fixed-time convergence,” IET Control Theory & Applications, vol. 11, no. 6, pp. 766–773, 2017.

    Article  MathSciNet  Google Scholar 

  41. C. Edwards and Y. Shtessel, “Adaptive dual-layer super-twisting control and observation,” International Journal of Control, vol. 89, no. 9, pp. 1759–1766, 2016.

    Article  MathSciNet  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Electrical and Computer Engineering, Changchun University of Technology, Changchun, 130012, China

    Zengpeng Lu, Yuanchun Li & Yan Li

Authors
  1. Zengpeng Lu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yuanchun Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yan Li
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yan Li.

Ethics declarations

The authors declare that there is no competing financial interest or personal relationship that could have appeared to influence the work reported in this paper.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This work is supported by the National Natural Science Foundation of China (Grant no. 61773075 and 61703055), the Scientific Technological Development Plan Project in Jilin Province of China (Grant nos. 20200801056GH and 20200404208YY), and the Science and Technology project of Jilin Provincial Education Department of China during the 13th Five-Year Plan Period (JJKH20200672KJ, JJKH20200673KJ, and JJKH20210767KJ).

Zengpeng Lu received his B.S. and M.S. degrees from Changchun University of Technology, China, in 2017 and 2020, respectively. He is currently working towards a Ph.D. degree in the Department of Mechanical Engineering, Changchun University of Technology, China. His research interests include intelligent mechanical, robot control, and fault tolerant control.

Yuanchun Li received his M.S. and Ph.D. degrees from Harbin Institute of Technology, China, in 1987 and 1990, respectively. He is currently a Professor in Changchun University of Technology, China. He is also a Professor in Jilin University, China. His research interests include complex system modeling, intelligent mechanical, and robot control.

Yan Li received his B.E. degree from the Changchun University of Technology, Changchun, China, in 2001, an M.S. degree from Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China, in 2006, and a Ph.D. degree from the Changchun University of Technology, China, in 2020. His research interests include intelligent mechanical and robot control.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Lu, Z., Li, Y. & Li, Y. A Novel Decentralized Fixed-time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification. Int. J. Control Autom. Syst. 21, 3036–3047 (2023). https://doi.org/10.1007/s12555-022-0235-0

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-022-0235-0

Keywords

Search

Navigation