Decentralized Adaptive Super-Twisting Control for Modular and Reconfigurable Robots with Uncertain Environment Contact
作者单位：Department of Control Science and EngineeringChangchun University of Technology State Key Laboratory of Management and Control for Complex SystemsInstitute of AutomationChinese Academy of Sciences
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by the National Natural Science Foundation of China(Grant no.61374051) the State Key Laboratory of Management and Control for Complex Systems(Grant no.20150102) the Scientific Technological Development Plan Project in Jilin Province of China(Grant nos.20160520013JH,20160414033GH and 20150520112JH) the Science and Technology project of Jilin Provincial Education Department of China during the 13th Five-Year Plan Period(JJKH20170569KJ)
关 键 词：Modular and reconfigurable robot Decentralized control strategy Uncertain environment contact Adaptive supertwisting algorithm Interconnected couplings
摘 要：This paper presents a decentralized adaptive super-twisting control method for modular and reconflgurable robots（MRRs） with uncertain environment *** conventional methods that rely on robot-environment contact model or force/torque sensing,this paper addresses the problem of controlling MRRs in contact with uncertain environment that using only local dynamic information of each joint *** dynamic model of MRR is formulated as a synthesis of interconnected *** on the integral sliding mode control（ISMC） technique and the adaptive super-twisting algorithm（ASTA）,the decentralized controller is designed to compensate the model uncertainty in which the up-bound is *** stability of the MRR system is proved by using the Lyapunov *** last,simulations are conducted for 2-DOF MRRs with different configurations under the situations of dynamic contact and collision to investigate the advantage of the proposed approach.