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Cited by 30Adaptive Control of Nonlinear SystemsDynamics and Control of Mechanical SystemsControl Systems in Engineering

Adaptive neural tracking control for flexible joint robot including hydraulic actuator dynamics with disturbance observer

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Phan, Van Du, Vo, Cong Phat, Ahn, Kyoung Kwan·2024·International Journal of Robust and Nonlinear Control
DOI 10.1002/rnc.7412
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Abstract

In this paper, a disturbance observer‐based adaptive neural backstepping integral sliding mode control (BISMC) is developed for a flexible joint robot (FJR) with the integration of an adjustable stiffness rotary actuator (ASRA). This system suffers from unknown system dynamics, external disturbance, and the influence of variable stiffness, which is a challenge for achieving precision tracking performance. Considering the lumped disturbances in FJR generated by the hydraulic system and the stiffness modulation of the ASRA, we investigate the structural dynamics nonlinear model of the FJR system, including hydraulic actuator dynamics. While other linear control strategies are applied for the FJR, the proposed controller uses BISMC, neural networks (NN), and nonlinear disturbance observers to deal with the disadvantages mentioned above. Radial basis function neural networks (RBFNN) are designed to tackle unknown nonlinear functions, and the disturbance observers are introduced to compensate for the influence of the variable stiffness, disturbance, and the approximation error caused by NN. Simulations and experiments are independently implemented to demonstrate the effectiveness and feasibility of the proposed controller. Results exhibit that the integral absolute error‐index is reduced by 20.4% when the proposed method is deployed for the experiment with a multistep trajectory.

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Cited by

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Authors
Phan, V. D., Vo, C. P., & Ahn, K. K.
Affiliations
  • Vinh University (VN)
  • Autonomous Robot 24Hours 7Days Co., Ltd Gyeonggi‐do South Korea
  • University of Ulsan (KR)
Corresponding author
Ahn, Kyoung Kwan
ORCID
Venue
International Journal of Robust and Nonlinear Control
Publisher
Wiley
Published
2024-05-15
Volume
34
Issue
13
Pages
8744-8767
ISSN
  • 1049-8923 (ISSN-L)
  • 1099-1239
DOI
10.1002/rnc.7412
OpenAlex
W4396975571
Cited by
30
References
1
Citations by year
2026: 7 · 2025: 22 · 2024: 1
FWCI
4.70
Type
journal article
Language
en
Open access
Licence
Locations
International Journal of Robust and Nonlinear Control (publishedVersion, cc-by)
Funders
Ministry of Education (2021RIS‐003)
Topics
  • Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
  • Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
  • Physical Sciences › Engineering › Mechanical Engineering › Control Systems in Engineering
Keywords
flexible joint robots, adaptive neural network control, disturbance observer, hydraulic actuator dynamics, radial basis function neural network, trajectory tracking control, lumped disturbance compensation

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