Thiết kế, chế tạo và điều khiển hệ robot tay máy di động ( MMS) ứng dụng lắp ráp 3d

b and d, the pro-posed robust term seems to be more sensitive with uncertainties and ensure smoothness-continuity for the control signals when compared with the BC [11] method.. Adaptive

Fig 5 Control inputs.

Table 3

Simulation performance comparisons of the ARBC, BC and PIDC schemes (Mobile manipulator robot positions).

Simulation NMSE (×10 − 4 ) Mobile manipulator robot positions (unit: rad) Link3

the other hand, if we try to adjust PID gains to decrease the

track-ing errors and increase timely the adaptive capability, then the

chattering phenomenon will occur in the presence of the

time-changing control conditions Next, for the BC [11] method, the

good performances have been obtained as shown inFigs 4,5(c)–

(d),Tables 2and3 In this simulation, the fixed K2,K3BC gains are

selected according to prior knowledge of the MMR control system

through a trial process to ensure good tracking errors, robustness

and stability In fact, this trial process is done based on the sample

set of optimal BC gains, nearly the same as the scheduled-gain

methods, to select the BC gains appropriately for control And

by considering of the simulation results in Figs 3 and 4, the

tracking control performances of the BC method [11] are good

And this evidence has partly demonstrated the effectiveness of

the proposed self-tuned algorithms for the BC gains In addition,

the results in Fig 5, with the BC method [11], also show that

the control signals for MMR control system have ensure good for

the robustness, stability, chattering phenomenon elimination, and

smoothly continuous states For more details, to achieve these

results, the compensator-typed robust control of the BC method

(28), the same as the proposed method, contains the well-known

sub-controller, e2(t)

∥e2(t)∥ 2+0 001, as a type of switching sliding mode

function, which is applied to eliminate the discontinuity andchattering phenomenon for control signals And for the proposedARBC method, by considering the compared results in theFigs 4,

5, 6, Tables 2 and 3, the tracking control performances havebeen improved Based on the mentioned advantage when theset of updated BC gains is useful for the choosing of fixed BCgains in the BC method [11], the proposed adaptive self-tuning

algorithms for K2,K3gains first proved reliable with its features

In addition, the result in the Fig 6b also shows that the BCgains are promptly tuned according to abrupt control conditionvariations with higher frequency uncertainties In particular, asthe load and disturbances increase, the desired positions change,

the proportional gain (K2) increases to rapidly force the trackingerrors tend to the steady zones Meanwhile, the derivative gain

(K3) increase sharply to reduce overshoot and steady-state errors,

as well as guarantee the stability of the MMR control system.After the requirements of tracking control are fulfilled, the BCgains move towards steady states and values And this result isconsistent with the proposed Theorem that the updated parame-ters are bounded Second, the proposed estimator provides timelysupport for the MMR control system under sudden dynamicschanging conditions with acceptable results (Fig 6a) Although

Fig 6 The updated parameters.

the results of this approximation do not meet expectations, but

the proposed compensator-typed robust controller has provided

timely assistance to ensure control quality In fact, the proposed

adaptive robust controller(16)has made the robustness in order

to relax the uncertainties for the MMR control system (Fig 5(b))

Moreover, based on the results in Fig 5 (b) and (d), the

pro-posed robust term seems to be more sensitive with uncertainties

and ensure smoothness-continuity for the control signals when

compared with the BC [11] method This also confirms the

effec-tiveness of the sub-controller (included tanh(.) function) in the

proposed robust controller Finally, based on the analysis of the

compared simulation results, the proposed ARBC methods has

achieve better tracking performances, as well as the adaptation

and robustness, than those of the BC [11] and PIDC strategies

5 Conclusions

In this work, the proposed ARBC scheme has been explored

and applied successfully for the MMR system The proposed BC

main control inputs have been improved by applying the adaptive

online self-updating laws to relax the fixed gain parameters

prob-lem In the designed method, with the simple adaptive estimator,

the uncertain dynamic effects to MMR control system have been

maximally excluded In addition, the robustness of controlled

system has also been reinforced by combining a smoothly

nonlin-ear function to eliminate the inevitable estimating/updating error

and other uncertainties Moreover, all the online adaptive control

algorithms are proposed based on the applying the Lyapunov

sta-bility theorem so that the stasta-bility of the proposed ARBC strategy

is ensured Based on the compared numerical simulation results,

the tracking performance has been effectively increased as well

as the adaptation, robustness, and stability features The realistic

works with the ARBC methods shall be considered in our next

research works

Declaration of competing interest

The authors declare that they have no known competing

finan-cial interests or personal relationships that could have appeared

to influence the work reported in this paper

Submission declaration

We confirm that this work has not been submitted elsewherefor publication In addition, we have no similar papers underconsideration nor published in another venue

Funding

This work was supported by the Industrial University of Ho ChiMinh City (IUH), Vietnam, under Grant number 103/HÐ-ÐHCN,17/03/2021

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cần photo và đính kèm ngay sau những nội dung trên, bản chính sử dụng khi thanh lý hợp đồng với phòng kế toán Khi thanh lý, báo cáo được in thành 03 cuốn, trong đó, 01 cuốn

1 Hợp đồng thực hiện đề tài nghiên cứu khoa học 

2 Thuyết minh đề tài đã được phê duyệt 

3 Quyết định nghiệm thu 

4 Hồ sơ nghiệm thu (biên bản họp, phiếu đánh giá, bảng tổng hợp điểm, bản giải trình,  phiếu phản biện) 

5 Sản phẩm nghiên cứu (bài báo, bản vẽ, mô hình )