Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators

Babak Esmaeili; Mina Salim; Mahdi Baradarannia; Ali Farzamnia

doi:10.1109/ICRoM48714.2019.9071819

Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators

Babak Esmaeili, Mina Salim, Mahdi Baradarannia, Ali Farzamnia

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

15 Citations (Scopus)

Abstract

This paper aims to design a data-driven observer-based model-free adaptive terminal sliding mode controller for rigid robot manipulators whose models are unknown in advance. First, the nonlinear robot manipulator dynamics are transformed to an equivalent linear discrete-time data-model using full-form dynamic linearization technique and multi-observers along with an adaptation law are designed in order to estimate system outputs and pseudo-partitioned Jacobian matrix, respectively. Second, based on a nonlinear data-driven terminal sliding surface, the robust discrete-time controller is obtained. Mathematical analysis guarantees the finite-time convergence and the stability of the closed-loop system. The comparative simulations lighten the superiority of the proposed work and the robustness of the proposed controller against external disturbances is validated by means of simulations.

Original language	English
Title of host publication	ICRoM 2019 - 7th International Conference on Robotics and Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	432-438
Number of pages	7
ISBN (Electronic)	9781728166049
ISBN (Print)	9781728166056
DOIs	https://doi.org/10.1109/ICRoM48714.2019.9071819
Publication status	Published - 20 Apr 2020
Externally published	Yes
Event	7th International Conference on Robotics and Mechatronics - Tehran, Iran, Islamic Republic of Duration: 20 Nov 2019 → 21 Nov 2019 Conference number: 7

Publication series

Name	International Conference on Robotics and Mechatronics
Publisher	IEEE
ISSN (Print)	2377-679X
ISSN (Electronic)	2572-6889

Conference

Conference	7th International Conference on Robotics and Mechatronics
Abbreviated title	ICRoM 2019
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	20/11/19 → 21/11/19

Access to Document

10.1109/ICRoM48714.2019.9071819Licence: Unspecified

Cite this

Esmaeili, B., Salim, M., Baradarannia, M., & Farzamnia, A. (2020). Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators. In ICRoM 2019 - 7th International Conference on Robotics and Mechatronics (pp. 432-438). Article 9071819 (International Conference on Robotics and Mechatronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM48714.2019.9071819

Esmaeili, Babak ; Salim, Mina ; Baradarannia, Mahdi et al. / Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators. ICRoM 2019 - 7th International Conference on Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 432-438 (International Conference on Robotics and Mechatronics).

@inproceedings{ce0afa1bd4e54d32b6a06cace090d605,

title = "Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators",

abstract = "This paper aims to design a data-driven observer-based model-free adaptive terminal sliding mode controller for rigid robot manipulators whose models are unknown in advance. First, the nonlinear robot manipulator dynamics are transformed to an equivalent linear discrete-time data-model using full-form dynamic linearization technique and multi-observers along with an adaptation law are designed in order to estimate system outputs and pseudo-partitioned Jacobian matrix, respectively. Second, based on a nonlinear data-driven terminal sliding surface, the robust discrete-time controller is obtained. Mathematical analysis guarantees the finite-time convergence and the stability of the closed-loop system. The comparative simulations lighten the superiority of the proposed work and the robustness of the proposed controller against external disturbances is validated by means of simulations.",

keywords = "adaptive control, model-free control, output observers, rigid robot manipulators, terminal sliding surface",

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

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 7th International Conference on Robotics and Mechatronics, ICRoM 2019 ; Conference date: 20-11-2019 Through 21-11-2019",

year = "2020",

month = apr,

day = "20",

doi = "10.1109/ICRoM48714.2019.9071819",

language = "English",

isbn = "9781728166056",

series = "International Conference on Robotics and Mechatronics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "432--438",

booktitle = "ICRoM 2019 - 7th International Conference on Robotics and Mechatronics",

address = "United States",

}

Esmaeili, B, Salim, M, Baradarannia, M & Farzamnia, A 2020, Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators. in ICRoM 2019 - 7th International Conference on Robotics and Mechatronics., 9071819, International Conference on Robotics and Mechatronics, Institute of Electrical and Electronics Engineers Inc., pp. 432-438, 7th International Conference on Robotics and Mechatronics, Tehran, Iran, Islamic Republic of, 20/11/19. https://doi.org/10.1109/ICRoM48714.2019.9071819

Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators. / Esmaeili, Babak; Salim, Mina; Baradarannia, Mahdi et al.
ICRoM 2019 - 7th International Conference on Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2020. p. 432-438 9071819 (International Conference on Robotics and Mechatronics).

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

TY - GEN

T1 - Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators

AU - Esmaeili, Babak

AU - Salim, Mina

AU - Baradarannia, Mahdi

AU - Farzamnia, Ali

N1 - Conference code: 7

PY - 2020/4/20

Y1 - 2020/4/20

N2 - This paper aims to design a data-driven observer-based model-free adaptive terminal sliding mode controller for rigid robot manipulators whose models are unknown in advance. First, the nonlinear robot manipulator dynamics are transformed to an equivalent linear discrete-time data-model using full-form dynamic linearization technique and multi-observers along with an adaptation law are designed in order to estimate system outputs and pseudo-partitioned Jacobian matrix, respectively. Second, based on a nonlinear data-driven terminal sliding surface, the robust discrete-time controller is obtained. Mathematical analysis guarantees the finite-time convergence and the stability of the closed-loop system. The comparative simulations lighten the superiority of the proposed work and the robustness of the proposed controller against external disturbances is validated by means of simulations.

AB - This paper aims to design a data-driven observer-based model-free adaptive terminal sliding mode controller for rigid robot manipulators whose models are unknown in advance. First, the nonlinear robot manipulator dynamics are transformed to an equivalent linear discrete-time data-model using full-form dynamic linearization technique and multi-observers along with an adaptation law are designed in order to estimate system outputs and pseudo-partitioned Jacobian matrix, respectively. Second, based on a nonlinear data-driven terminal sliding surface, the robust discrete-time controller is obtained. Mathematical analysis guarantees the finite-time convergence and the stability of the closed-loop system. The comparative simulations lighten the superiority of the proposed work and the robustness of the proposed controller against external disturbances is validated by means of simulations.

KW - adaptive control

KW - model-free control

KW - output observers

KW - rigid robot manipulators

KW - terminal sliding surface

UR - https://www.scopus.com/pages/publications/85084357403

U2 - 10.1109/ICRoM48714.2019.9071819

DO - 10.1109/ICRoM48714.2019.9071819

M3 - Conference contribution

AN - SCOPUS:85084357403

SN - 9781728166056

T3 - International Conference on Robotics and Mechatronics

SP - 432

EP - 438

BT - ICRoM 2019 - 7th International Conference on Robotics and Mechatronics

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 7th International Conference on Robotics and Mechatronics

Y2 - 20 November 2019 through 21 November 2019

ER -

Esmaeili B, Salim M, Baradarannia M, Farzamnia A. Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators. In ICRoM 2019 - 7th International Conference on Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2020. p. 432-438. 9071819. (International Conference on Robotics and Mechatronics). doi: 10.1109/ICRoM48714.2019.9071819

Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this