Data-driven MIMO discrete-Time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles

Babak Esmaeili; Mahdi Baradarannia; Mina Salim; Ali Farzamnia

doi:10.1109/ICCIA49288.2019.9030938

Data-driven MIMO discrete-Time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles

Babak Esmaeili, Mahdi Baradarannia, Mina Salim, Ali Farzamnia

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

In this paper, a data-driven multi-input multi-output discrete-Time predictive model-free adaptive integral terminal sliding mode controller is proposed for the robotic manipulators driven by pneumatic artificial muscles with unknown models and external disturbances. First, using the concept of compact-form dynamic linearization technique, dynamics of the robotic manipulator are represented in discrete-Time linear data-model form. Second, a time-delay based estimation algorithm along with an adaptive law is investigated to estimate external disturbances and pseudo-Jacobian matrix, respectively. Eventually, the proposed controller is derived based on a data-driven discrete-Time integral terminal sliding function and by utilizing the concept of model-predictive controllers. The simulation results obviously clarify the efficacy of the proposed method.

Original language	English
Title of host publication	Proceedings - 2019 6th International Conference on Control, Instrumentation and Automation, ICCIA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Number of pages	8
ISBN (Electronic)	9781728158150
ISBN (Print)	9781728158167
DOIs	https://doi.org/10.1109/ICCIA49288.2019.9030938
Publication status	Published - 12 Mar 2020
Externally published	Yes
Event	6th International Conference on Control, Instrumentation and Automation, - Sanandaj, Iran, Islamic Republic of Duration: 30 Oct 2019 → 31 Oct 2019 Conference number: 6

Conference

Conference	6th International Conference on Control, Instrumentation and Automation,
Abbreviated title	ICCIA 2019
Country/Territory	Iran, Islamic Republic of
City	Sanandaj
Period	30/10/19 → 31/10/19

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This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

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Esmaeili, B., Baradarannia, M., Salim, M., & Farzamnia, A. (2020). Data-driven MIMO discrete-Time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles. In Proceedings - 2019 6th International Conference on Control, Instrumentation and Automation, ICCIA 2019 Article 9030938 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCIA49288.2019.9030938

Esmaeili, Babak ; Baradarannia, Mahdi ; Salim, Mina et al. / Data-driven MIMO discrete-Time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles. Proceedings - 2019 6th International Conference on Control, Instrumentation and Automation, ICCIA 2019. Institute of Electrical and Electronics Engineers Inc., 2020.

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title = "Data-driven MIMO discrete-Time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles",

abstract = "In this paper, a data-driven multi-input multi-output discrete-Time predictive model-free adaptive integral terminal sliding mode controller is proposed for the robotic manipulators driven by pneumatic artificial muscles with unknown models and external disturbances. First, using the concept of compact-form dynamic linearization technique, dynamics of the robotic manipulator are represented in discrete-Time linear data-model form. Second, a time-delay based estimation algorithm along with an adaptive law is investigated to estimate external disturbances and pseudo-Jacobian matrix, respectively. Eventually, the proposed controller is derived based on a data-driven discrete-Time integral terminal sliding function and by utilizing the concept of model-predictive controllers. The simulation results obviously clarify the efficacy of the proposed method.",

keywords = "finite-Time control, model-free control, pneumatic artificial muscles, predictive, robotic manipulators",

author = "Babak Esmaeili and Mahdi Baradarannia and Mina Salim and Ali Farzamnia",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 6th International Conference on Control, Instrumentation and Automation, , ICCIA 2019 ; Conference date: 30-10-2019 Through 31-10-2019",

year = "2020",

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doi = "10.1109/ICCIA49288.2019.9030938",

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Esmaeili, B, Baradarannia, M, Salim, M & Farzamnia, A 2020, Data-driven MIMO discrete-Time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles. in Proceedings - 2019 6th International Conference on Control, Instrumentation and Automation, ICCIA 2019., 9030938, Institute of Electrical and Electronics Engineers Inc., 6th International Conference on Control, Instrumentation and Automation, , Sanandaj, Iran, Islamic Republic of, 30/10/19. https://doi.org/10.1109/ICCIA49288.2019.9030938

Data-driven MIMO discrete-Time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles. / Esmaeili, Babak; Baradarannia, Mahdi; Salim, Mina et al.
Proceedings - 2019 6th International Conference on Control, Instrumentation and Automation, ICCIA 2019. Institute of Electrical and Electronics Engineers Inc., 2020. 9030938.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Data-driven MIMO discrete-Time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles

AU - Esmaeili, Babak

AU - Baradarannia, Mahdi

AU - Salim, Mina

AU - Farzamnia, Ali

N1 - Conference code: 6

PY - 2020/3/12

Y1 - 2020/3/12

N2 - In this paper, a data-driven multi-input multi-output discrete-Time predictive model-free adaptive integral terminal sliding mode controller is proposed for the robotic manipulators driven by pneumatic artificial muscles with unknown models and external disturbances. First, using the concept of compact-form dynamic linearization technique, dynamics of the robotic manipulator are represented in discrete-Time linear data-model form. Second, a time-delay based estimation algorithm along with an adaptive law is investigated to estimate external disturbances and pseudo-Jacobian matrix, respectively. Eventually, the proposed controller is derived based on a data-driven discrete-Time integral terminal sliding function and by utilizing the concept of model-predictive controllers. The simulation results obviously clarify the efficacy of the proposed method.

AB - In this paper, a data-driven multi-input multi-output discrete-Time predictive model-free adaptive integral terminal sliding mode controller is proposed for the robotic manipulators driven by pneumatic artificial muscles with unknown models and external disturbances. First, using the concept of compact-form dynamic linearization technique, dynamics of the robotic manipulator are represented in discrete-Time linear data-model form. Second, a time-delay based estimation algorithm along with an adaptive law is investigated to estimate external disturbances and pseudo-Jacobian matrix, respectively. Eventually, the proposed controller is derived based on a data-driven discrete-Time integral terminal sliding function and by utilizing the concept of model-predictive controllers. The simulation results obviously clarify the efficacy of the proposed method.

KW - finite-Time control

KW - model-free control

KW - pneumatic artificial muscles

KW - predictive

KW - robotic manipulators

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U2 - 10.1109/ICCIA49288.2019.9030938

DO - 10.1109/ICCIA49288.2019.9030938

M3 - Conference contribution

AN - SCOPUS:85083079024

SN - 9781728158167

BT - Proceedings - 2019 6th International Conference on Control, Instrumentation and Automation, ICCIA 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th International Conference on Control, Instrumentation and Automation,

Y2 - 30 October 2019 through 31 October 2019

ER -

Esmaeili B, Baradarannia M, Salim M, Farzamnia A. Data-driven MIMO discrete-Time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles. In Proceedings - 2019 6th International Conference on Control, Instrumentation and Automation, ICCIA 2019. Institute of Electrical and Electronics Engineers Inc. 2020. 9030938 doi: 10.1109/ICCIA49288.2019.9030938

Data-driven MIMO discrete-Time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles

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