Wang, Lei  ORCID: https://orcid.org/0000-0002-4123-4159, Zhou, Zheng and Liu, Jiaxiang
2022.
Interval-based optimal trajectory tracking control method for manipulators with clearance considering time-dependent reliability constraints.
Aerospace Science and Technology
128
, 107745.
10.1016/j.ast.2022.107745
|
Abstract
The soaring operating performance of robotic manipulators renders the significance of advanced controller design. However, the uncertainty in practice would unavoidably lead to the failure of manipulators. Meanwhile, the general statistical analysis to uncertainty may be too complicated or tricky and to virtually realize. In this paper, a non-probabilistic uncertainty quantification approach is proposed to simplify the process of system uncertainties. The corresponding response range is attended by collocation method with advantages upon precision and efficiency. Later, a time-dependent reliability (TDR) evaluation is presented by the first-passage theory. The controller design of manipulator system is built with the widely used PID control with the constraint of TDR to ensure manipulator's normal operation under the trajectory tracking course. The proposed method innovates in simplification and precision of uncertainty quantification and response evaluation, as well as the non-probabilistic time-dependent reliability constraints which well suit for controller design for manipulator systems. Three numerical examples are presented to prove the function and effectiveness of the proposed design approach.
| Item Type: | Article |
|---|---|
| Date Type: | Publication |
| Status: | Published |
| Schools: | Engineering |
| Publisher: | Elsevier |
| ISSN: | 1270-9638 |
| Date of Acceptance: | 4 July 2022 |
| Last Modified: | 10 Nov 2022 11:45 |
| URI: | https://orca.cardiff.ac.uk/id/eprint/151742 |
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