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Trajectory Tracking Control via Decentralized Joint-Level Schemes


Model Mismatch with Centralized Control (FBL)

Introduction

Please refer to the report.

Some Results

Regulation

  • Nominal case

Nominal case

  • Model Mismatch case

Model Mismatch case

Trajectory Tracking

  • Nominal case

Nominal case

  • Model Mismatch case

Model Mismatch case

Usage

Experiments can be performed using the exp_main.m MATLAB file. Many parameters can be individually chosen, e.g. dynamic params of the 2R manipulator, controllers gains, etc. Moreover, available controllers in the lib_ctrl directory are:

  • Feedback Linearization Control (FBL)
  • Proportional-Derivative Control (PD)
  • Pole Placement Control (PP)
  • Pole Placement Control + Disturbance rejection (PP_ER)
  • Pole Placement + Sliding Mode Control (PP_SMC)
  • LQR (LQR)

Credits

References

  • J.Y.S. Luh, "Conventional controller design for industrial robots — A tutorial", IEEE Trans. on Systems, Man and Cybernetics, vol. 13, no. 3, pp. 298-316, 1983.
  • T.C.S. Hsia, T.A. Lasky, and Z. Guo, "Robust independent joint controller design for industrial robot manipulators", IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 21-25, 1991.
  • "Motion Control", Chapter 8 in Springer Handbook of Robotics, 2012.
  • "Robotics: Modelling, Planning and Control", Chapters 5 and 8, 2009.
  • M. Noh Ahmad, J. H. S. Osman and M. Ruddin A Ghani, "A decentralized proportional-integral sliding mode tracking controller for robot manipulators," 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering. TENCOM '02. Proceedings., Beijing, China, 2002, pp. 1314-1317 vol.3, doi: 10.1109/TENCON.2002.1182568.
  • Ouyang P. R., Acob J., Pano V., PD with sliding mode control for trajectory tracking of robotic system, Robotics and Computer-Integrated Manufacturing, 2014, 30(2), pp. 189-200.
  • Kara, Tolgay & Mary, Ali. (2017). Adaptive PD-SMC for Nonlinear Robotic Manipulator Tracking Control. Studies in Informatics and Control. 26. 49-58. 10.24846/v26i1y201706.
  • Rocco P., Decentralized control lesson, Control of industrial robots, Politecnico di Milano, 2020.