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Robust approximate constraint-following control design based on Udwadia–Kalaba approach and experimental validation for the joint module of cooperative robot

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Abstract

The joint module is an essential energy source for cooperative robots. Its dynamic performance has a direct influence on the total control effect. In order to reduce the impact of uncertain factors on the dynamic performance of cooperative robots, a robust approximate constraint-following control (RACFC) algorithm based on the Udwadia–Kalaba (U–K) approach is developed in this paper to achieve the trajectory tracking of joint modules, which is a vital part of cooperative robot action. Considering the external interference and uncertainty of system parameters, we design the controller with three parts: the nominal part inhibits any trend to deviate from the constraints; the second part solves the incompatibility problem of initial conditions; and the robust part compensates for the effects of possible uncertainty. Finally, by connecting the joint module of the cooperative robot with the rapid controller prototype CSPACE, simulation and experimental validation with two different friction models are carried out, demonstrating that the designed control can remarkably enhance the system performance of joint modules.

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Funding

The research is supported by the National Natural Science Foundation of China (52305084 and 52175083), the Natural Science Foundation of Anhui Province (2308085QE161), the Department of Education of Anhui Province (KJ2021A0050), the Fundamental Research Funds for the Central Universities (PA2021KCPY0035), Key Laboratory of Construction Hydraulic Robots of Anhui Higher Education Institutes, Tongling University (Grant No. TLXYCHR-O-21ZD01), University Synergy Innovation Program of Anhui Province (Program GXXT-2021-010) and Key Research and Development Program of AnHui Province (2022a05020014).

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Authors and Affiliations

  1. School of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, Anhui, People’s Republic of China

    XinBao Ma, ShengChao Zhen & GuanJun Meng

  2. AnHui Key Laboratory of Digital Design and Manufacturing, Hefei University of Technology, Hefei, 230009, Anhui, People’s Republic of China

    XinBao Ma & ShengChao Zhen

  3. School of Artificial Intelligence, Anhui University, Hefei, 230601, Anhui, People’s Republic of China

    XiaoLi Liu

  4. The Geroge W.Woodrufi School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, 30332, USA

    Ye-Hwa Chen

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  1. XinBao Ma
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  2. ShengChao Zhen
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Contributions

YHC, SZ, XL and XM conceived and designed the study. The data collection and analysis were completed by GM and XM. SZ and XM wrote this article.

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Correspondence to XiaoLi Liu.

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Ma, X., Zhen, S., Liu, X. et al. Robust approximate constraint-following control design based on Udwadia–Kalaba approach and experimental validation for the joint module of cooperative robot. Nonlinear Dyn 112, 1931–1949 (2024). https://doi.org/10.1007/s11071-023-09133-y

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