Trajectory Tracking Control Design for Dual-Arm Robots Using Dynamic Surface Controller

Authors

  • Anh Tuan Phan Hanoi University of Science and Technology
  • Huu Nguyen Thai Vinh University of Technology Education
  • Cong Khoa Nguyen Hanoi University of Science and Technology
  • Quang Uoc Ngo Vietnam National University of Agriculture
  • Hoai Anh Duong Hanoi University of Science and Technology
  • Quoc Truong Vo Hanoi University of Science and Technology

DOI:

https://doi.org/10.4186/ej.2020.24.3.159

Keywords:

backstepping, multi sliding surface control, dynamic surface control, dual arm robot, manipulators

Abstract

This paper presents a dynamic surface controller (DSC) for dual-arm robots (DAR) tracking desired trajectories. The DSC algorithm is based on backstepping technique and multiple sliding surface control principle, but with an important addition. In the design of DSC, low-pass filters are included which prevent the complexity in computing due to the “explosion of terms”, i.e. the number of terms in the control law rapidly gets out of hand. Therefore, a controller constructed from this algorithm is simulated on a four degrees of freedom (DOF) dual-arm robot with a complex kinetic dynamic model. Moreover, the stability of the control system is proved by using Lyapunov theory. The simulation results show the effectiveness of the controller which provide precise tracking performance of the manipulator.

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Author Biographies

Anh Tuan Phan
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Hanoi University of Science and Technology, Hanoi, 10000, Vietnam

Huu Nguyen Thai
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Vinh University of Technology Education, Vinh, 43100, Vietnam

Cong Khoa Nguyen
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Hanoi University of Science and Technology, Hanoi, 10000, Vietnam

Quang Uoc Ngo
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Vietnam National University of Agriculture, Hanoi, 10000, Vietnam

Hoai Anh Duong
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Hanoi University of Science and Technology, Hanoi, 10000, Vietnam

Quoc Truong Vo
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Hanoi University of Science and Technology, Hanoi, 10000, Vietnam

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Published In
Vol 24 No 3, May 31, 2020
How to Cite
[1]
A. T. Phan, H. N. Thai, C. K. Nguyen, Q. U. Ngo, H. A. Duong, and Q. T. Vo, “Trajectory Tracking Control Design for Dual-Arm Robots Using Dynamic Surface Controller”, Eng. J., vol. 24, no. 3, pp. 159-168, May 2020.
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