Adaptive sliding mode control for manipulating deformable linear object with input saturation

Feng Ding; Jian Huang; Yongji Wang; Toshio Fukuda; Takayuki Matsuno

doi:10.1109/ICMA.2012.6285105

Adaptive sliding mode control for manipulating deformable linear object with input saturation

Feng Ding, Jian Huang, Yongji Wang, Toshio Fukuda, Takayuki Matsuno

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

9 Citations (Scopus)

Abstract

Manipulating deformable linear objects (DLOs) is much challengeable as the uncertainty resulting from oscillation of DLOs may cause failure in the operation. In this paper, we proposed a position-based control strategy to eliminate the vibration at the end of DLOs. The simplified dynamic model of a DLO is obtained by local linearization, Schur decomposition of matrices and linear transform of variable. Based on the dynamic model, an adaptive law is applied to estimate the uncertain parameters, and a sliding mode controller considering the position constraint condition is designed to force the state variables converging to the equilibrium. The effectiveness of proposed control strategies are verified by numerical simulations.

Original language	English
Title of host publication	2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
Pages	1862-1867
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2012.6285105
Publication status	Published - Oct 23 2012
Externally published	Yes
Event	2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, China Duration: Aug 5 2012 → Aug 8 2012

Publication series

Name	2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

Other

Other	2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Country/Territory	China
City	Chengdu
Period	8/5/12 → 8/8/12

Keywords

Adaptive sliding mode control
deformable linear objects
input saturation
vibration reduction

ASJC Scopus subject areas

Control and Systems Engineering
Mechanical Engineering

Access to Document

10.1109/ICMA.2012.6285105

Cite this

Ding, F., Huang, J., Wang, Y., Fukuda, T., & Matsuno, T. (2012). Adaptive sliding mode control for manipulating deformable linear object with input saturation. In 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 (pp. 1862-1867). Article 6285105 (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012). https://doi.org/10.1109/ICMA.2012.6285105

Adaptive sliding mode control for manipulating deformable linear object with input saturation. / Ding, Feng; Huang, Jian; Wang, Yongji et al.
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012. 2012. p. 1862-1867 6285105 (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012).

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

Ding, F, Huang, J, Wang, Y, Fukuda, T & Matsuno, T 2012, Adaptive sliding mode control for manipulating deformable linear object with input saturation. in 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012., 6285105, 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, pp. 1862-1867, 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012, Chengdu, China, 8/5/12. https://doi.org/10.1109/ICMA.2012.6285105

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AB - Manipulating deformable linear objects (DLOs) is much challengeable as the uncertainty resulting from oscillation of DLOs may cause failure in the operation. In this paper, we proposed a position-based control strategy to eliminate the vibration at the end of DLOs. The simplified dynamic model of a DLO is obtained by local linearization, Schur decomposition of matrices and linear transform of variable. Based on the dynamic model, an adaptive law is applied to estimate the uncertain parameters, and a sliding mode controller considering the position constraint condition is designed to force the state variables converging to the equilibrium. The effectiveness of proposed control strategies are verified by numerical simulations.

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Adaptive sliding mode control for manipulating deformable linear object with input saturation

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