Академический Документы
Профессиональный Документы
Культура Документы
Mechatronics
journal homepage: www.elsevier.com/locate/mechatronics
A R T I C LE I N FO A B S T R A C T
Keywords: This paper presents an electrohydraulic series elastic manipulator (ESEM) system containing a novel variable
Electrohydraulic stiffness actuator (VSA) and a hybrid robust control. The ESEM includes a series elastic manipulator (SEM), an
Series elastic manipulator adjustable stiffness mechanism (ASM), and an electrohydraulic servo system (EHS). Thus, the ESEM can benefit
Backstepping adaptive fuzzy sliding mode from the advantages of the EHS, such as high-power density and a high torque-to-weight ratio. Besides, the ESEM
control
system can use the advantages of the VSA to give the system a suitable dynamic in unknown environments as
Input shaping
well as low energy consumption for cyclic tasks. The proposed VSA adjusts the stiffness by changing the position
of the springs along the ball screw. This system can provide fast stiffness regulation in a much broader range.
However, the variant characteristics of the VSA, and nonlinearities and uncertainties in the EHS, such as friction,
leakages, and dependence of bulk modulus on temperature, are major challenges for the control design. The new
design of a backstepping adaptive fuzzy sliding mode control (BAFSMC) is addressed in this study. It is devel-
oped via sliding mode control, backstepping technique, and an adaptive fuzzy scheme. The controller is sepa-
rated into two control loops for the mechanical dynamics and the hydraulic dynamics. The SMC is embedded for
each loop to reduce the system's order and to ensure that the system's state variables reach and stay on the sliding
surface. The adaptive fuzzy scheme is used to replace the robust term in the control effort of the conventional
SMC to get rid of the chattering phenomenon and to deal with uncertainties in the mechanical and hydraulic
subsystems. The Lyapunov approach and backstepping technique are used to prove the robustness and stability
of the controlled system and to derive the adaptive laws. On the other hand, a fuzzy input shaping (FIS) scheme
which combines an input shaping technique (IST) and a fuzzy logic system, was proposed to minimize the
residual vibration at the end effector robustly over the expected operating range of the VSA system. Numerical
experiments and comparisons with some existing algorithms are presented to illustrate the theoretical results
and show the efficiency of the proposed controller.
Abbreviations: ESEM, Electrohydraulic series elastic manipulator; VSA, Variable stiffness actuator; AFSMC, Adaptive fuzzy sliding mode control; FIS, Fuzzy input shaping; DOF, Degree
of freedom; IST, Input shaping technique; AIS, Adaptive input shaping; EHS, Electro-hydraulic servo; EHA, Electro-hydraulic actuator; SMC, Sliding mode control; BAFSMC, Backstepping
adaptive fuzzy sliding mode control; ASBM, Adjustable stiffness base mechanism; DC, Direct current; MFs, Membership functions; IS, Input Shaping; BSMC, Backstepping sliding mode
control; BPID, Backstepping proportional integral derivative; ZV, Zero vibration; ZVD, Zero vibration and derivative
☆
This paper was recommended for publication by Associate Editor Prof. Bob Koch.
⁎
Corresponding author.
E-mail address: kkahn@ulsan.ac.kr (K.K. Ahn).
https://doi.org/10.1016/j.mechatronics.2018.04.004
Received 12 September 2017; Received in revised form 21 March 2018; Accepted 12 April 2018
0957-4158/ © 2018 Elsevier Ltd. All rights reserved.
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
between the output joint and the actuators to regulate the joint stiffness actuator (EHA). The feedback linearization was used in some research
in both directions of the rotational motion. work [18], but these methods did not account for the nonlinear dy-
A variable stiffness series elastic actuator (VSSEA) [4] consists of namics of the cylinder and uncertain fluid parameters. Therefore, sev-
two actuators. One actuator allows for stiffness tunability and the other eral kinds of sliding mode control (SMC) methods were adopted for the
for regulating the equilibrium position of the two-link manipulator. EHS system [19,20]. However, the SMC requires the knowledge of
This mechanism increases the mechanical complexity, size, weight, uncertainty bound which is difficult to obtain in a practical system. The
cost, and integration of the system. However, [6] has proved that the chattering phenomenon is also a disadvantage in the application of the
performance of a lightweight rigid arm is inevitably degraded by im- SMC [21]. Thus, adaptive control algorithms have been proposed to
posing increasingly high safety constraints. Assuming that total link deal with the mentioned problems, sliding mode adaptive control
inertia is minimized, a possibility for performance enhancement is left [22,23], feedback linearization adaptive control [24]. Although these
with the design of compliant joint which can decouple the inertia of the nonlinear control schemes showed the chattering elimination, good
actuator proper form the inertia of the last link. Another work of [7] has tracking performance and robust to uncertainties, the considered con-
also shown VSA systems offer the possibility to move the load faster and trolled plant appears to be a hydraulic actuator, which has a simpler
more safety than other solutions based both on rigid or flexible joint. mathematical model than the ESEM system.
When a series elastic manipulator (SEM) contains a VSA, it can be used To handle a complex nonlinear system, many researchers have come
efficiently for lift assistance or industrial manipulators to increase up with a robust control scheme which combines SMC with the back-
workplace safety for human workers as well as provide suitable dy- stepping approach. The combination uses the advantages of both SMC
namics in unknown and dynamic environments [8]. The lower reflected and the backstepping control, such as order reduction, the systematic
inertia can provide safe interaction with humans [6, 7, 9]. Shocks can and recursive design. The backstepping sliding mode control has been
be absorbed by springs to prevent damage to the transmission of the applied in a linear induction motor [25], quadrotor [26,27], and
actuator, which improves the safety of the robots. A stiffness controller aeroelastic system [28]. In these systems, the actuator dynamics are
is easily applied for VSA system and does not require using force sen- typically excluded from the system behavior to simplify the control
sors. Furthermore, the fast stiffness response of the VSA can overcome design. The control scheme has been employed in these systems without
the limits of software systems during fast impacts [9]. The springs can considering the actuator dynamics, and it includes a proportional
also exchange energy with the environment to reduce the energy con- control for position control and SMC for speed control. The stability and
sumption in work that requires a high burst of power (such as the VIA robustness of the controlled system are proved based on the back-
joint prototype [10], a soccer-ball kicking leg [11], hopping [1] or stepping technique and Lyapunov approach. In the ESEM system, the
throwing [12]). In cyclic tasks, the energy can be stored in the spring actuator dynamics are very complicated, especially because of the high
during negative work and then released when power generation is re- nonlinearities of the cylinder friction and leakages. They can influent
quired. A study on the optimal control of a VSA hammer showed that the dynamic characteristics and stability. Therefore, the actuator dy-
varying the stiffness during the execution of a hammering task im- namics are considered in the position control for the ESEM system.
proves the final performance substantially [13]. Analytical results Because of the characteristics of the SEM, the first link connects to
showed that a SEM with a VSA performing a hammering task can in- the second link through a flexible joint, the residual vibration at the end
crease speed up to 30% compared to not using VSA. However, the test effector occurs during the trajectory tracking of the manipulator. Input
bench had a low torque-to-weight ratio and low energy efficiency, shaping technique (IST), a pre-filtering reference input, was introduced
which can be considered as the main factors that limit the performance by Singer and Seering [29] to eliminate the system residual vibration.
of actuators driven by electric motors. IST has been used in practical systems, such as flexible manipulators
By clamping a linear adjusting spring base mechanism into the [30] and ship cranes [31]. IST is a feedforward scheme, which gen-
second link, a new type of VSA for series elastic manipulators is pro- erates shaped command based on the estimated oscillation parameters.
posed. This system can provide fast stiffness regulation in a much Thus, IST is not applicable for the ESEM system containing the VSA
broader range. The main novelty of this proposed VSA system is using a system, because the stiffness regulation of the manipulator changes the
ball screw to position the springs base, which can handle large loads natural frequency and the damping ratio of the vibration along with the
and highly precise positioning. A DC motor with a high-resolution en- stiffness. To overcome this disadvantage, several adaptive input
coder is used to drive the ball screws to change the forces applied po- shaping (AIS) schemes have been developed. E. Pereira et al. [32] used
sition along the second link, and the springs act as the nonlinear elastic the algebraic identification method to obtain the natural frequency of
elements. Furthermore, the spring forces acting on the motor shaft the arm. J. Park et al. [33] proposed the learning input shaping tech-
through a gearbox are not considerable, and the stiffness regulation is nique to update the IS parameters based on magnitude and phase dif-
independent of the manipulator angular position; so, the VSA does not ference of the residual vibration. Nevertheless, these schemes require a
require a complicated stiffness controller. Besides the advantages of the detailed dynamic model of the plant, and the convergence rate of
VSA, the proposed ESEM can overcome the problems of the existing adaptive values is much lower than the stiffness regulation response.
prototypes by replacing the electric motors with an electro-hydraulic Based on the above analyses, an ESEM system containing a novel
servo system as a primary torque generator that has high power density VSA is proposed and discussed. The first examination of the proposed
and high energy efficiency. system is to control the equivalent position of the manipulator robustly
Electro-hydraulic servo systems have been widely investigated for to the nonlinear disturbances and uncertainties without the oscillation
many applications, such as manipulators and aircraft. Its advantages of the end effector. The major contributions of this study are: 1) The
include large force and torque output durability, reliability, and small detail description, the nonlinear dynamical mechanism model, and the
size-to-power ratio, which is a remarkable characteristic of EHSs. When state-space model of the ESEM are introduced. 2) In the residual vi-
an EHS is used to control the equilibrium position, the load capacity for bration elimination strategy, a new vibration-control method based on
the repetitive task of the ESEM is expanded. However, the EHS's dy- the concept of [26] and fuzzy technique is designed for the character-
namics are very complicated because of nonlinear behaviors and istics of the ESEM system. In this scheme, a fuzzy logic engine is em-
modeling uncertainties, such as friction, internal leakage, external bedded to tune the parameters of the IST according to the stiffness
leakage, and parametric uncertainties [14]. These are challenges in regulation of the VSA system and the cylinder actions to maintain the
developing control strategies. Various control methods have been used robustness of the residual vibration suppression. 3) In the positioning
for trajectory-tracking control of hydraulic cylinders. The proportional strategy, an adaptive robust controller is developed via the sliding
integral derivative (PID) controllers [15–17] were investigated to mode, backstepping approach [34] and adaptive fuzzy scheme [35].
control the position and force tracking for the electro-hydraulic The controller is separated into two control loops for the mechanical
23
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
dynamics and the hydraulic dynamics. The SMC is embedded for each
loop to reduce the system's order and to ensure that the system's state
variables reach and stay on the sliding surface. An adaptive fuzzy
scheme is used to replace the robust term in the control effort of the
conventional SMC to get rid of the chattering phenomenon and to deal
with uncertainties in the mechanical and hydraulic subsystems. The
Lyapunov approach and backstepping technique are used to prove the
robustness and stability of the proposed controller and to derive the
adaptive laws. 4) Several experiments and comparisons of BAFSMC
with proportional integral derivative (PID) and backstepping sliding
mode control (BSMC); FIS with zero-vibration (ZV) and zero-vibration-
derivative (ZVD) are presented to illustrate the theoretical results and
show the efficiency of the proposed controller. Fig. 2. Structure of the variable stiffness actuator system.
The structure of the rest of this paper is as follow. Section 2 in-
troduces the mechanical structure and mathematical model of the An idea for the design of this VSA system is a combination of SEM
ESEM system. The robust controller and the FIS are designed in and an adjustable spring base mechanism (ASBM) as shown in Fig. 2.
Section 3. Section 4 shows the experimental results and the analyses. The ASBM uses a ball screw as a linear motion actuator which can
Last, some conclusions are summarized in Section 5. The Appendixes handle large loads with highly precise positioning. The coupling torque
present the definitions of the matrices, vectors, functions, and the time acting on the second link has different values for every position of the
derivative equations of Lyapunov function. nut. Not only the moment arm but also the tension of the springs is
adjusted by the nut position. Because of the requirements of working
condition, the DC motor drives the ball screws to provide the desired
2. Hardware design of the ESEM system with the VSA system stiffness. The VSA can change its stiffness in a much broader range and
high dynamic performance. Because the primary torque generator and
2.1. System analysis the VSA are two separate units, they do not affect each other during
operation. In addition, the disturbance torque acting on the DC motor
Hydraulic power systems are always a reasonable choice for the caused by the two springs is not considerable due to the high trans-
power source of heavy industrial manipulators because they can pro- mission ratio. Thus, the VSA system does not require a complicated
vide significant force or torque and fast response. A new generation of controller.
proportional servo valve with an integrated digital electronic is used in
this ESEM system to get rid of some disadvantages of the conventional
hydraulic system, such as pressure drop through the valve, low band- 2.2. The ESEM system setup
width, and low step response time.
As shown in Fig. 1, the EHS system combines a gear pump, an AC Fig. 1 is a schematic diagram of the proposed ESEM. The system
motor, a reservoir, a proportional servo valve, and a single hydraulic hardware includes three main parts: the hydraulic subsystem, the me-
cylinder. The AC motor operates at a constant speed to keep the sup- chanical subsystem, and the VSA system. Two high-resolution encoders
plied pressure always at the desired working value. The servo valve is are used to measure the angular displacement of the two links. Two
controlled to supply pressured oil in both directions to result in the pressure sensors with a pressure range of 0–160 Mbar (Kobold) are used
desired torque/position at the cylinder. to obtain the pressure of the two chambers, and these feedback signals
24
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
are used to estimate the feedback torque. In Fig. 2, the stiffness of the Table 2
system depends on the position of the ball screw nut. Therefore, the Setting parameters for the ESEM system.
desired stiffness can be obtained by regulating the angular displace- Components Parameters Specification
ment of the DC motor. Another encoder and a motor driver (MD03) are
used to carry out this task. The setting parameters for the ESEM system Hydraulic Pump Displacement 3.6 [cc/rev]
are as shown in Table 2. Rated rotation speed 1730 [rpm]
Relief pressure 150 [bar]
The proposed controller is implemented on an Advantech Industrial
Servo valve Model MOOG – D633
computer (Core i5 3.5 GHz) within Simulink environment combined Rated flow 10 [l/min]
and Simulink Desktop Real-Time Toolbox of MATLAB. An encoder Hydraulic cylinder Tube diameter – D 46 [mm]
Quad-04 card from Measure Computing Corporation collects data from Rod diameter – d 22 [mm]
Length of stroke – lcyl 35 [mm]
three encoders, and two multifunction data acquisition Advantech
Hydraulic oil Effective bulk modulus 1.5 × 109 [Pa]
cards, PCI171 and PCI6220, are installed in the PCI slots of the PC to Specific gravity 0.87
perform the peripheral interfaces. The experimental apparatus is shown Load cell Capacity 100 [kgF]
in Fig. 3. Rated output 2.052 [mV/V]
Remark 1. The parameters of the ESEM shown in Table 2 which were Encoder Model E60H
Resolution 8192 [p/rev]
obtained from, Autodesk Inventor, and datasheets of the devices.
Pressure sensor Capacity 160 [bar]
Rated output 16 [bar/V]
DC Motor Model IG – 36PGM
2.3. Mathematical modeling of the EHS system Gear head reduction ratio 1/5
Encoder resolution 26 [p/rev]
Using the principles of a hydraulic system, the governing nonlinear
equations describing the fluid flow distribution in the valve are written
as [36] (Table 1 The continuity equations for oil flow through the cylinder, are
2
β
⎧ Cd wxs (p − p1 ) , xs ≥ 0 p˙ 1 = (Q1 − A1 x˙ p − QL)
⎪ ρ s V01 + A1 x p (3)
Q1 =
⎨C wx 2
(p − pa ) , xs ≤ 0
⎪ d s ρ 1 (1) β
⎩ p˙ 2 = (−Q2 + A2 x˙ p + QL)
V02 − A2 x p (4)
2
⎧Cd wxs (p − pa ) , xs ≥ 0
⎪ ρ 2 where xp is the hydraulic cylinder displacement (m), β is the effective
Q2 =
⎨ C wx 2 bulk modulus of the hydraulic fluid, V0i (i = 1, 2) are the initial volumes
⎪ d s (p − p2 ) , xs ≤ 0
⎩ ρ s (2) of fluid trapped at the sides of the actuator, Ai (i = 1, 2) are the areas of
the two sides of the actuator, and QL is the internal leakage.
where Q1 and Q2 represent fluid flows into and out of the valve, re-
Remark 2. Due to the high bandwidth of the servo valve, about 83 Hz
spectively. Cd is the orifice coefficient of discharge, ρ is the mass density
(from datasheet), the dynamics of the servo valve will be neglected.
of the fluid, ps is the pump pressure, pa is the return pressure,
Also, the small effect of the fluid inertial will be ignored in the dynamic
pi (i = 1, 2) are the pressures in the chambers, w is the area gradient of
model of the ESEM system. Hence, the spool displacement, xs, is
the servo valve, and xs is the spool displacement of the servo valve (m).
considered to be proportional to the input voltage, u.
25
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
⎡Td1 ⎤ = ⎡ τf + τ12 ⎤
⎢Td2 ⎥ ⎢ τd2 ⎥ (15)
⎣ ⎦ ⎣ ⎦
where τd2 is the external torques and the unknown function, the hy-
draulic friction torque, τf, a combination of the Coulomb friction and
the viscous friction [38] is considered as Eq. (16).
τf = l1sinαFf = l1sinα (FCoul sign(x˙ p) + Fυ x˙ p) (16)
The angular acceleration θ̈1can be obtained from Eq. (6) as
(ps − p1 ) if u ≥ 0 (p2 − pa ) if u ≥ 0
ΔPp = ⎧ , ΔPr = ⎧ .
⎨
⎩ (p1 − pa ) if u < 0 ⎨
⎩ (ps − p2 ) if u < 0
and d2(t) is the uncertainties in the hydraulic subsystem: the leakages,
parametric uncertainties, the modeling error.
The state variables of the system are defined as
Fig. 5. Illustration of the EHS system and the VSA: a) the EHS system, b) the T
x = [x1 x2 x3]T = [θ1 θ˙ 1 τ1] . Then, the plant can be described by the
VSA system. following state space.
26
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
27
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
Rule 1, If s2 is Positive, then u is ueq – ɛ2* the Appendix B-1. The final form of the time derivative of V1 is obtained
Rule 2, If s2 is Zero, then u is ueq as
Rule 3, If s2 is Negative, then u is ueq + ɛ2* .
V˙1 = s1 (t ) s˙1 (t ) + α1 ɛ͠ 1 (t ) ^ɛ(t ) ≤ B s1 s2 − Π1s12 − s1 (t ) γ1 (w11 − w13)
1
The control signal of the virtual torque control loop can be ex- .
where 0 ≤ w21 ≤ 1, 0 ≤ w22 ≤ 1, 0 ≤ w23 ≤ 1, are the firing strengths Step 2. Apply an adaptive law for the translation width in the virtual
of rules 1)–3), respectively; the relation w21 + w22 + w23 = 1 is valid torque control loop
according to the special case of triangular membership functions Consider the Lyapunov function for the whole system as
The control signal u is rewritten as
s22 (t ) + α2 ɛ͠ 2 (t )
u = ueq − ɛ2 (w21 − w23) (33) V = V1 +
2 (42)
Consider the Lyapunov function for the whole system as where α2 is a small positive constant
s 2 (t ) The control signal u is rewritten as
V = V1 + 2
2 (34) u ̂ = ueq − ^ɛ2 (w21 − w23) (43)
The derivative of the Lyapunov function Eq. (34) is as follows:
The Lyapunov derivative Eq. (42) is given in the Appendix B-2. The
V˙ = V˙1 + s2 s˙ 2 (35) equation in final form is as follows:
.
Replacing Eqs. (28), (30), (31), and (33) into Eq. (35), the derivative
V˙ = V˙1 + s2 s˙ 2 + α2 ɛ͠ 2 ^ɛ
function Eq. (35) is represented as 2
28
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
the delay time T1 and T2. To achieve zero vibration after the last im-
pulse, these parameters are obtained as
1 K
⎡ Ai ⎤ = ⎡ 1+K 1+K⎤
⎢ Ti ⎥ ⎢ 0 π ⎥
⎣ ⎦ ⎢ ⎣ ωd ⎥
⎦ (49)
where ωn is the system's natural frequency, ζ is the damping ratio, ωdis
the damped frequency of the system given byωd = ωn 1 − ζ 2 , and
Fig. 8. Configuration of a fuzzy logic system. The VSA system was adjusted to its lowest stiffness, xVSA = 0,
29
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
BSMC were set up for the comparisons. The GS-PID schedules the gains
based on stiffness states and kinematic position. The control laws 1–4
are used in the cases of extended cylinder at low stiffness, retracted
cylinder at low stiffness, extended cylinder at high stiffness, and re-
tracted cylinder at high stiffness, respectively. The BSMC uses two
conventional SMC systems for the two loops, where the robust term in
the control effort is uri = ηi sign(si ) (i = 1, 2) , ηi is the robust gain, and
the sign function is shown in the Appendix C-1. The system parameters
were adopted carefully based on the system design and experimental
processes.
Remark 5. In practice, because of the mechanical structure and
actuator capability, all the parameters of the above controllers are
chosen to achieve the best transient control performance. For the
proposed controller, the control parameters are selected to keep the
control effects, x3d, and, u, stay in their regions, and the derivative of
the Lyapunov function, as shown in Eq. (47), is a semi-negative
function. These parameters are shown in Table 4.
Fig. 10. Bode plot of the VSA system with a PID controller.
4.2.1. Case study 1: pulse reference
The performances, which are position responses, tracking errors,
Table 4 torque responses, and control signals of the GS-PID, the BSMC, and the
Parameters of the controllers. proposed controller are shown in Figs. 11–13. As seen, the three con-
Type of controller Parameters trollers can track the pulse reference, the BSMC and BAFSMC can both
obtain better control performance, but the GS-PID cannot perform well,
GS-PID Control law 1: KP1 = 3.15 , KI1 = 45 , KD1 = 9 × 10−3 , of which the error is too large to be accepted. The tracking errors are
Control law 2: KP2 = 2.7 , KI2 = 54 , KD2 = 45 × 10−3 . shown in Fig. 11.b. The steady errors of the proposed control, the GS-
Control law 3: KP3 = 3 , KI3 = 50 , KD3 = 9 × 10−3 . PID, and the BSMC are bounded by 0.02°, 0.04°, and 0.07°, respectively.
Control law 4: KP4 = 2.8 , KI 4 = 57 , KD4 = 45 × 10−3 . When the VSA system is regulated to high stiffness, the BAFSMC can
BSMC c1 = 60 , Π1 = 850 , η1 = 1, Π2 = 6.72 × 1010 , η2 = 6 × 108 .
maintain the stability by using the adaptive law to estimate the trans-
BAFSMC c1 = 60 , Π1 = 900 , α1 = 0.01, Π2 = 6.72 × 1010 , α2 = 0.5 .
lation width to confront the disturbances in the mechanical subsystem
online.
Similarly, in the virtual torque control loop, the BAFSMC has a
during the first ten seconds, then to its highest stiffness, xVSA = 50,
better torque tracking response than BSMC. Because the adaptive fuzzy
during the last ten seconds in the experimental setpoint tracking tests.
is used to deal with the uncertainties in the hydraulic subsystem, the
This experiment focuses on only the trajectory tracking response of the
results in Fig. 12.b show that the feedback torque tracks the virtual
controller. Thus, the IST is not used to generate the shaped reference
signal excellently. It is illuminated that the uncertainties in the hy-
signals. In the first case, a pulse whose duty and cycle are 50% and 5 s is
draulic subsystem can significantly affect the precision and stability of
used as an equivalence position reference. In the second case, the ESEM
the controller.
system is run for a multi-steps trajectory. Since the ESEM system is a
Fig. 13 presents the control signals of the BSMC and the BAFSMC.
low-bandwidth system, to enable the capability of vibration suppres-
The results show that the BSMC contains oscillations in the control
sion of the IS, the reference signal must go through an appropriate low-
signal because of the ‘overestimated’ robust gains in the robust terms.
pass filter. To express the trajectory tracking performance and the ro-
Meanwhile, the chattering phenomenon is remedied in the control ef-
bustness of the proposed controller, a gain-scheduled PID control, and a
forts according to the online adjustment of the translation width.
Fig. 11. Comparison of the pulse position response of the ESEM system.
30
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
limits. The tracking errors are shown in Fig. 14.b. As seen, the results
show that the GS-PID cannot handle such a large movement well with
the tracking error around 0.9°. The proposed BAFSMC has a better
performance than the BSMC in terms of both position and virtual torque
control. The steady state error of the proposed BAFSMC during the
entire experiment is kept within [−0.02 0.02].
The torque performances are shown in Fig. 15. The results show that
the feedback torque of the proposed control keeps tracking the virtual
torque control effort better than the BSMC, as shown in Fig. 15c, which
means that all defined states are stable. Therefore, the robust tracking
performance is guaranteed even with parameter variations and external
load disturbance.
Fig. 16 shows the control signals of the BSMC and the proposed
control. The results substantiate the advantage of using adaptive fuzzy
to replace the robust term in conventional SMC. As shown in Fig. 16.b,
the control inputs do not exhibit chattering. Meanwhile, the chattering
still exists in the BSMC.
Fig. 12. Comparison of the pulse torque response of the ESEM system: (a)
BSMC; (b) BAFSMC. 4.3. FIS experiments
Fig. 14. Comparison of the multi-step position response of the ESEM system.
31
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
Fig. 18.a presents the equivalent responses of the BAFSMC under the
shaped reference signal of ZV, and Fig. 18.d is the ball screw nut po-
sition response in the variable stiffness actuator. The results show that
the equivalent position can track the shaped pulse trajectory while the
VSA position keeps increasing to random values. The response of the
end effector corresponding to each position of the ball screw nut is
shown in Fig. 18.b and c. The black dotted line, the black line in
Fig. 18.c, and the black line in Fig. 18.b are the vibration of the end
effector without using the IS, with the ZV, and with the ZVD, respec-
tively. It is obvious that when the VSA position is at 0, the ZV and ZVD
suppress the vibration excellently because of the small error in the es-
timated values. In contrast, when the VSA position is adjusted to higher
values, the deviation of actual and estimated parameters increases, and
the residual vibration becomes larger. Although the ZVD is more robust
than the ZV [29], it cannot perform well in such a large range of
stiffness regulation. Besides, the effect of gravity also causes different
oscillations in both directions of the cylinder.
Fig. 15. Comparison of the multi-step torque response of the ESEM system: (a) To overcome the problems mentioned above, the fuzzy logic engine
BSMC; (b) BAFSMC. designed in Section 3 was used to update the ZV parameters online
corresponding to the VSA position and the cylinder actions. As the re-
sults presented in Fig. 19.b, the vibration vanished stably against the
stiffness regulation. The ZV parameters quickly change to the optimal
values, so the vibration suppression will not be affected by the adaptive
parameters process.
The FIS fuzzy output gains are shown in Fig. 20. The comparison of
vibration responses using different algorithms is zoomed in Fig. 21. In
this figure, the data is collected from 22.5 s to 32.5 s of the FIS ex-
periments corresponding to two positions of the VSA system, xVSA = 37
and xVSA = 45. The presence of the FIS does not influent the precise
trajectory tracking of the BAFSMC.
5. Conclusions
Table 5
Frequencies and damping ratios of the oscillation at several positions of the VSA.
Natural frequency (rad/s)
32
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
the vibrations at the end effector vary flexibly along with the stiffness
regulation. The FIS was proposed to keep the robustness of the ZV
shaper in vibration suppression over the expected operating range of
the VSA. In the FIS, a fuzzy logic tunes the ZV shaper's parameters
corresponding to stiffness responses to ensure a small error of actual
and estimated parameters. Numerical experiments and comparisons
Fig. 19. The vibration response of the end effector with the FIS. with some existing algorithms were presented to illustrate the theore-
tical results and show the efficiency of the proposed controller. The
analytical results showed that the ESEM with the hybrid controller
possesses the stable tracking control performance, free from chattering,
robust to uncertainties, and minimum residual vibration. It also de-
monstrated the credibility of the theoretical model of the ESEM system.
The proposed control scheme is promising for use in other nonlinear
systems that consider the actuator dynamics or systems that contain
nonlinear vibration response. The merits of the VSA compared with
fixed stiffness will be validated in our future work for a hydraulic ro-
botic hammer.
Acknowledgments
33
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
Appendix A
1. The symmetric positive definite manipulator inertia matrix, the vector of centripetal and Coriolis torques, and the vector of gravitational torques
in Eq. (6) are shown as follows:
2
J + J2 + m2 l12 + 2m2 l1 d2cosθ2 J2 + m2 l1 d2cosθ2 ⎤ ⎡−m2 l1 d2sinθ2 (θ˙ 2 + 2θ˙ 1 θ˙ 2) ⎤
M (θ) = ⎡ 1 , V (θ , θ˙ ) = ⎢ ⎥,
⎢ J + m l d cosθ J ⎥ m2 l1 d2sinθ2 θ˙ 1
2
⎣ 2 2 1 2 2 2 ⎦ ⎣ ⎦
g (m d + m l )cos θ + gm d cos(θ + θ )
G (θ) = ⎡
1 1 2 1 2 2 2 1 2 ⎤
.
⎢ gm2 d2cos(θ1 + θ2) ⎥
⎣ ⎦
A12 A22
K = −βl1sin(α ) x˙ p ⎜⎛ + ⎞
⎟,
⎝ V01 + A1 x p V02 − A2 x p ⎠
2 ⎛ A1 ΔPp A2 ΔPr ⎞
H = βCd wl1 kspsin(α ) + ,
ρ ⎜ V01 + A1 x p V02 − A2 x p ⎟
⎝ ⎠
A1 A2
d2 (t ) = −βl1 sin(α ) QL ⎜⎛ + ⎞
⎟ + l1 Fc cos(α ).
⎝ V01 + A1 x p V02 − A2 x p ⎠
Appendix B
34
M.N. Nguyen et al. Mechatronics 52 (2018) 22–35
Appendix C
1 if si (t ) ≥ 0,
sign(si ) = ⎧
⎨
⎩ 1 if si (t ) < 0.
−
References [20] Wu M-c, Shih M-c. Simulated and experimental study of hydraulic anti-lock braking
system using sliding-mode PWM control. Mechatronics 2003;13(4):331–51. 2003/
05/01/.
[1] Vanderborght B, Tsagarakis NG, Semini C, Ham RV, Caldwell DG. MACCEPA 2.0: [21] Bandyopadhyay B, Janardhanan S, Spurgeon SK. Advances in sliding mode control:
Adjustable compliant actuator with stiffening characteristic for energy efficient concept, theory and implementation. Berlin, Germany: Springer-Verlag; 2013.
hopping. 2009 IEEE international conference on robotics and automation. 2009. p. [22] Ho TH, Ahn KK. Speed control of a hydraulic pressure coupling drive using an
544–9. adaptive fuzzy sliding-mode control. IEEE/ASME Trans Mechatron
[2] Wang W, Fu X, Li Y, Yun C. Design of variable stiffness actuator based on modified 2012;17(5):976–86.
gear–rack mechanism. J Mech Robot 2016;8(6). 061008-061008-10. [23] Ahn KK, Nam DNC, Jin M. Adaptive backstepping control of an electrohydraulic
[3] Migliore SA, Brown EA, DeWeerth SP. Novel nonlinear elastic actuators for pas- actuator. IEEE/ASME Trans Mechatron 2014;19(3):987–95.
sively controlling robotic joint compliance. J Mech Des 2006;129(4):406–12. [24] Garagic D, Srinivasan K. Application of nonlinear adaptive control techniques to an
[4] Jafari A, Tsagarakis NG, Sardellitti I, Caldwell DG. A new actuator with adjustable electrohydraulic velocity servomechanism. IEEE Trans Control Syst Technol
stiffness based on a variable ratio lever mechanism. IEEE/ASME Trans Mechatron 2004;12(2):303–14.
2014;19(1):55–63. [25] Lin F-J, Shen P-H, Hsu S-P. Adaptive backstepping sliding mode control for linear
[5] Tonietti G, Schiavi R, Bicchi A. Design and control of a variable stiffness actuator for induction motor drive. IEE Proc Electr Power Appl 2002;149(3):184–94.
safe and fast physical human/robot interaction. Proceedings of the 2005 IEEE in- [26] Bouabdallah S, Siegwart R. Backstepping and sliding-mode techniques applied to an
ternational conference on robotics and automation. 2005. p. 526–31. indoor micro quadrotor. Robotics and automation, 2005. ICRA 2005. Proceedings
[6] Bicchi A, Tonietti G, Bavaro M, Piccigallo M. Variable stiffness actuators for fast and of the 2005 IEEE international conference on. 2005. p. 2247–52. IEEE.
safe motion control. Robotics research. The eleventh international symposium. [27] Madani T, Benallegue A. Backstepping sliding mode control applied to a miniature
Berlin, HeidelbergBerlin Heidelberg: Springer; 2005. p. 527–36. quadrotor flying robot. IEEE industrial electronics, IECON 2006-32nd annual con-
[7] Bicchi A, Tonietti G. Fast and “soft-arm” tactics [robot arm design]. IEEE Robot ference on. 2006. p. 700–5. IEEE.
Autom Mag 2004;11(2):22–33. [28] Chen C-L, Peng CC, Yau H-T. High-order sliding mode controller with backstepping
[8] Giorgio G, et al. Variable stiffness actuators: the user's point of view. Int J Robot Res design for aeroelastic systems. Commun Nonlinear Sci Numer Simul
2015;34(6):727–43. 2015/05/01. 2012;17(4):1813–23. 2012/04/01/.
[9] Tsagarakis NG, Laffranchi M, Vanderborght B, Caldwell DG. A compact soft actuator [29] Singer NC, Seering WP. Preshaping command inputs to reduce system vibration. J
unit for small scale human friendly robots. 2009 IEEE international conference on Dyn Syst Meas Control 1990;112(1):76–82.
robotics and automation. 2009. p. 4356–62. [30] Zain MZM, Tokhi MO, Mohamed Z. Hybrid learning control schemes with input
[10] Haddadin S, Weis M, Wolf S, Albu-Schäffer A. Optimal control for maximizing link shaping of a flexible manipulator system. Mechatronics 2006;16(3):209–19. 2006/
velocity of robotic variable stiffness joints. IFAC Proc Vol 2011;44(1):6863–71. 1//. 04/01/.
[11] Schempf H, Kraeuter C, Blackwell M. Roboleg: a robotic soccer-ball kicking leg. [31] Agostini M, Parker GG, Groom K, Schaub H, Robinett RD. Command shaping and
Proceedings of 1995 IEEE international conference on robotics and automation. 2. closed-loop control interactions for a ship crane. Proceedings of the 2002 american
1995, vol. 2. p. 1314–8. control conference (IEEE Cat. No.CH37301). 3. 2002. p. 2298–304. vol. 3.
[12] Kim BS, Song JB. Hybrid dual actuator unit: a design of a variable stiffness actuator [32] Pereira E, Trapero JR, Díaz IM, Feliu V. Adaptive input shaping for single-link
based on an adjustable moment arm mechanism. 2010 IEEE international con- flexible manipulators using an algebraic identification. Control Eng Pract
ference on robotics and automation. 2010. p. 1655–60. 2012;20(2):138–47. 2012/02/01/.
[13] Garabini M, Passaglia A, Belo F, Salaris P, Bicchi A. Optimality principles in variable [33] Juyi P, Pyung-Hun C, Hyung-Soon P, Eunjeong L. Design of learning input shaping
stiffness control: the VSA hammer. 2011 IEEE/RSJ international conference on technique for residual vibration suppression in an industrial robot. IEEE/ASME
intelligent robots and systems. 2011. p. 3770–5. Trans Mechatron 2006;11(1):55–65.
[14] Merritt HE. Hydraulic control systems. New York, NY, USA: Wiley; 1967. [34] Krstic M, Kanellakopoulos I, Kokotovic PV. Nonlinear and adaptive control design.
[15] Truong DQ, Ahn KK. Parallel control for electro-hydraulic load simulator using New York, USA: John Wiley & Sons; 1995.
online self tuning fuzzy PID technique. Asian J Control 2011;13(4):522–41. [35] Rong-Jong W, Kuo-Ho S. Adaptive enhanced fuzzy sliding-mode control for elec-
[16] Truong DQ, Ahn KK. Force control for hydraulic load simulator using self-tuning trical servo drive. IEEE Trans Ind Electron 2006;53(2):569–80.
grey predictor – fuzzy PID. Mechatronics 2009;19(2):233–46. 2009/03/01/. [36] Niksefat N, Sepehri N. Designing robust force control of hydraulic actuators despite
[17] Truong DQ, Ahn KK. Force control for press machines using an online smart tuning system and environmental uncertainties. IEEE Control Syst 2001;21(2):66–77.
fuzzy PID based on a robust extended Kalman filter. Expert Syst Appl [37] Oh S, Kong K. Two-Degree-of-freedom control of a two-link manipulator in the
2011;38(5):5879–94. 2011/05/01/. rotating coordinate system. IEEE Trans Ind Electron 2015;62(9):5598–607.
[18] Re LD, Isidori A. Performance enhancement of nonlinear drives by feedback line- [38] Olsson H, Åström KJ, Canudas de Wit C, Gäfvert M, Lischinsky P. Friction models
arization of linear-bilinear cascade models. IEEE Trans Control Syst Technol and friction compensation. Eur J Control 1998;4(3):176–95. 1998/01/01/.
1995;3(3):299–308. [39] Slontine JJE, Li W. Applied nonlinear control. NJ: Prentice-Hall; 1991.
[19] Liu Y, Handroos H. Technical note Sliding mode control for a class of hydraulic [40] Meirovitch L. Elements of vibration analysis. McGraw-Hill; 1986.
position servo. Mechatronics 1999;9(1):111–23. 1999/02/01/.
35