Sliding computed torque control based on passivity for a haptic device: PHANToM premium 1.

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Fabi an Alfonso D az L opez*, Omar Dom nguez R amirez**, L. E. Ramos Velasco*** *Masters Program in Mechatronics Polytechnic University of Pachuca Email: fabian-cjs@hotmail.com **Research Center on Information and Systems Technology Hidalgo State University Email: omar@uaeh.edu.mx ***Laboratory Research in Robotics and Advanced Electronic Polytechnic University of Pachuca Email: lramos@upp.edu.mx
Resumen In this paper we design a controller, of systems Euler-Lagrange, based on dynamic properties, and basically in stability of Lyapunov method and energy analysis. The main contribution of these controllers is that the system nonlinearities are taken into consideration, unlike traditional methods of control, who regard all systems as linear, which for a robot manipulator is not the most suitable. The systems Euler-Lagrange counts in its dynamics with characteristic very special, which are taken advantage of by a great variety of authors to carry out control, this topic intends taking advantage of some properties, as the skew-symmetric property, passivity and other very common denitions, like Lyapunov functions and of kinetic energy. This paper presents experimental results using as an experimental platform an haptic interface: PHANToM Premium 1.0 Palabras clave: Redes neuronales, control PID, Interfaz h aptica, PHANToM.

interface (PHANToM premium 1.0) for movement and tracking of trajectories. I-A. Justication

I.

INTRODUCTION

As in the dynamic analysis of Euler-Lagrange (E-L) systems tribological effects are not considered (which is an inherent effect of electromechanical systems such as robot manipulators), there are currently more complex control techniques which reduce signicantly the inuence of these phenomena, e.g. computed torque control and rst-order sliding modes are very efcient strategy in the trajectory follow-up compensated or injecting dynamic friction. One advantage in the E-L systems is the property of passivity (?), which is not to generate more energy that is supplied to the system, this property is very useful for the control analysis, since that can be included within the design to induce stability. I-B. The problem

In recent years the development of robotic technology as a support on many issues, has been a great impact on different sectors. The scope is extensive and robot control techniques have been the subject of multiple investigations. Among these techniques regularly seeks the optimal control as possible. Conducting research in this eld requires to begin using classical control techniques that exist in the literature such as proportional-derivative (PD), proportionalintegral (PI), and proportional-integral-derivative (PID) (?). Some methodologies have been proposed for the control of nonlinear systems, on the literature review, is well known that the PD plus gravity compensation controller can globally stabilize a manipulators (?), and for the parametric uncertainly an adaptive version of PD controller has introduced, the main drawback of this approach is the gravity regressor matrix has to be known. In this paper a sliding mode control is applied to a haptic

Since the classical control techniques (such as P, PD, PI and PID) are designed for linear systems but do not compensate efciently nonlinear dynamics that occur in dynamic systems such as electromechanical mechanisms, which present inuences of inertial forces, potential energy, centripetal and Coriolis forces, and friction between others. The proportional controller P with state feedback is the easiest closed-loop controller that may be used in the control of robot manipulators. The application of this strategy is used for position control, however, has certain constrains because its design fails the interaction of conservative forces (such as potential energy) resulting in a performance limitation of a regulation task. PD type controllers with gravity compensation do not compensate the dynamics of the system effectively causing

a steady-state error. These controllers are very applied with low performance. I-C. Our proposal

Kinetic energy is obtained as follows:

n

K=
i=1

2 1 T 1 mi gv = q D(q )q 2 2 i

(3)

In this paper we design a control strategy which is able to satisfy the interaction of conservative forces (such as potential energy) and using approximations to Lyapunov functions to compensate another nonlinearities, for this requires prior knowledge of the dynamic model system. We propose one of the most popular controllers in the eld of robotics as it is the computed torque and at this paper we add a rst order sliding mode for this controller, we perform the experimental implementation in our case in a haptic device PHANToM premium 1.0 of 3 DOF (degree of freedom) (?), which free motion control techniques for robot manipulators can be applied, which aim is to show how the problem can be solved. II. THE PHANTOM PREMIUM 1.0

Potential energy U (q ) is obtained as follows:

n

u=
i=1

2 1 mi gh 2 i

(4)

where mi is the i mass of the i link, hi is the i height of the i link respect to mass center and g is a gravitational constant. Considering U (q ) as conservative forces, the Euler- Lagrange equations of motion are: ) d L(q, q L(q, q ) = i q q dt i i (5)

The PHANToM premium 1.0 is a haptic interface manufactured by Sensable Technologies, we can use this robot to evaluate many control laws, and, for this paper we evaluated the experiments with it. PHANToM premium provides 3 DOF, positional sensing, serial type and open kinematic chain consisting of three rigid links and revolute-type joints. As the vector of viscous friction forces inertial effects inherent to the device are relatively slight, making this system a high performance haptic device. Optical encoders that provide feedback position and velocity joint guarantee changes in the operational space (workspace) of 0.03mm in any of the Cartesian axes X, Y and Z (?). PHANToM premium can be modeled as a robot manipulator (?), the dynamic properties are presented in the next section. III. DYNAMIC MODEL AND ITS PROPERTIES

where i corresponds to the torque of the i-th actuator. The Lagrangian L(q, q ), given by 1 is rewritten as: 1 T q H (q )q U (q ) (6) 2 Thus the resulting equation can be written in scalar form: L(q, q ) =
n n n

Dij q j +
j =1 j =1 k=1

Cijk q j q k + Gi =i

(7)

which shows the structure of the velocity product terms. Cijk are known as Christoffel symbols of the rst type, and are given by: Cijk = 1 2 Hij Hik Hik + + qk qj qi (8)

We consider the class of rigid, fully actuated, unconstrained mechanical systems which can be modeled by the Euler- Lagrange principle. This results in a class of nonlinear systems modeled by a set of highly coupled nonlinear differential equations over the entire domain of the Euclidian space in n dened below: 1. Kinetic energy computation: K (q, q ) 2. Potential energy computation: U (q ) 3. Lagrangian computation: L(q, q ) 4. Development of the Euler-Lagrange equations: E(q, q )=K (q, q ) + U (q ) (1)

They are functions of only the position variables, qi . The elements of L(q, q ) can be dened as:
n

Cik =
k=1

Cijk q k

(9)

However C (q, q ) is not unique, and other denitions are possible. Thus synthetic, the dynamic model of a rigid n- link serial non-redundant robot manipulator, with all actuated revolute joints described in joint coordinates, is given as follows: D(q ) q + C (q, q )q + G(q ) = (10)

where E(q, q ) is the systems total energy (Hamiltonian), and q = [q1 ...qn ]T , describes a generalized coordinates vector as a function of time. The difference between kinetic energy K (q, q ) and potential energy U (q ) is so-called Lagrangian L(q, q ) of a robot manipulator, so that: L(q, q ) = K (q, q ) U (q ) (2)

Where D(q ) denotes a symmetric positive denite inertial matrix, C (q, q ) is a Coriolis and centripetal forces matrix, G(q ) models the gravity forces vector and stands for the torque input. PHANToM Premium 1.0, is a joint low friction haptic device equivalent to 0.04 N, so, not considered to be the vector of viscous friction force because of its magnitude specied. The computed force in cartesian space (thimble

gimbal), must be transformed into torques in the actuator space. Typically the compute is: = J T (q )f and stands a force of 8.5N . III-A. Properties of Euler Lagrange systems (11)

IV-A.

Outline of sliding mode control methodology

The dynamic equation 10 have the following properties (?): There exists some positive constant such that D(q ) I (12)

where I denotes the n n identity matrix. The D(q )1 exist and this is positive denite. The matrix C (q, q ) have a relationship with the inertial matrix as: (q ) 2C (q, q q T D ) q =0 (13)

The sliding mode dynamics depends on the switching surface equations and do not depends on control. Hence the design procedure should consist of two stages. First, the equation of the manifold with sliding mode is selected to design the desire dynamics of this motion in accordance with some performance criterion. Then, the discontinuous control should be found such that the state would reach the manifold and such the sliding mode exists in this manifold. As a result, the design is decoupled into two subproblems of lower dimension, and after a nite time interval preceding the sliding motion, the system will possess the desired dynamic. The deviation from the ideal model may be caused by imperfections of switching devices such as small delays, dead zones and hysteresis, which may lead to highfrequency oscillations. The same phenomenon may appear due to small time constants of sensors and actuators having been neglected in the ideal model. This is the so-called chattering phenomenon, and for its suppression, is implemented a lowpass digital lter (wavelet lter). IV-B. Hyperbolic functions and their properties

this property is known as the anty-symmetry property. From the passivity property we have that:
t

V (x) V (x0 )
0

y T (s)u(s)ds

(14)

Analogous to the simplest rst-order tracking relay system with state variable x(t): x (t) = f (x) + (16)

where V (x) is a storage function, y (s) is the output, and u(s) is the input of the system, and s is a variable change. For the Euler-Lagrange system, energy function E as the storage function, and we have the passivity property as:
t

E (t) E (0)
0

q T dt

(15)

with the bounded function f (x), |f (x)| f0 = 0 and the control as a relay function of the tracking error e = r(t) x; r(t) is the reference input and is given by: 0 , e > 0 discontinuity, e = 0 = 0 sign(e) (17) 0 , e < 0 where 0 is constant, we have the hyperbolic tangent function, described by the limit:

where q is the output and is the input IV. SLIDING MODE CONTROL

l m tanh(e ) sign(e)

(18)

The term sliding mode control rst appeared in the context of variable-structure systems. In the course of the history of automatic control theory, the investigation of systems with discontinuous control action has been maintained at a high level. In particular, at the rst stage relay or on-off regulators ranked highly for design of feedback systems. The reason was twofold: easy of implementation and high efciency of hardware. Due to its order reduction property and its low sensitivity to disturbances and plant parameter variations, sliding mode control is an efcient tool to control complex high-order dynamic plants operating under uncertainty conditions. Sliding modes as a phenomenon may appear in a dynamic system governed by ordinary differential equations with discontinuous right-hand sides (?).

The problem with the use of sign function (stability in the sense of Lyapunov) is the discontinuity presented at the origin; however, with the use of hyperbolic functions is possible to override this problem. These functions have certain properties, which are used for stability analysis; some of them are described below: The hyperbolic sine is growing exponentially, also meets the following criteria senh(x) = 0 x = 0, |senh(x)| > 0, x = 0 The hyperbolic cosine is not radially unbounded and positive denite, which implies cosh(x) 1, x The hyperbolic tangent is radially unbounded, in addition: tanh(x) = 0, x = 0 The combination of hyperbolic functions with other functions is very interesting, for example:

In(cosh(x)), x is positive denite In(cosh(x)) = 0 for x = 0. x tanh(x), x , tanh(x) = 0 , is positive denite, tanh(x) = 0 for x = 0 V. DESIGN OF THE SLIDING COMPUTED TORQUE CONTROL BASED ON PASSIVITY Since robot manipulators keep the passivity dynamic property (?), we can design a nonlinear control law through an analysis involving this property. To make this analysis it is necessary to consider also the Lyapunov stability theory. Thus, errors should be considered directly on the system dynamics, making a variable change on the dynamics involving q For controllers design, rst we propose a candidate function to be Lyapunov, i.e. a function that is positive dened. From the properties of E-L systems (?) it is known that kinetic energy has certain characteristics, and by denition (?) K (q, q ) is positive denite, so therefore this function can be part of the Lyapunov function as follows: 1 T q + 1 q q D (q ) T Kp q V (x) = 2 2 (19)

wich can be developed in the following form:

1 T ( x) = q T D(q ) q + q q V q D(q ) q+ 2 q D(q ) T Kp T T (x) = (q ) q [ C (q, q q D q + q q V )q G(q )] D(q ) qd + 1 T Kp 2 (23)

VI. VII. VII-A. VII-B. VII-C.

P LATAFORMA EXPERIMENTAL R ESULTADOS EXPERIMENTALES

Resultados de la identicaci on del sistema Resultados del controlador PID wavenet Resultados de la autosintonizaci on VIII. C ONCLUSIONES Y TRABAJO FUTURO IX. AGRADECIMIENTOS

El primer autor agradece a CONACYT por la beca de maestr a otorgada durante el periodo septiembre 2010 septiembre 2012, con n umero de registro 372724. R EFERENCIAS
[1] Astrom K.J. and Hagglund T.,PID Controllers: Theory, Design and Tuning, International Society and for Measurement and Control,1995. [2] C. Valverde, O.Dom nguez, E. Ponce, I. Trejo, G. Cervantes,Kinematic and Dynamic Modeling of the PHANToM Premium 1.0 Haptic Device: Experimental Validation. Electronics, Robotics and Automotive Mechanics Conference, 2010. [3] D. Koditschek, Natural motion of robot arms, in Proc. 23rd IEEE Conf. on Decision and Control, Las Vegas, Nevada, 1984, pp. 733735. [4] Jarillo A., Dominguez O. and Parra V., Haptic training method using a nonlinear joint control, International journal of scientic and engineering research volume 2, Issue 4, April, 2011. [5] J. G. Vadim Utkin and J. Shi. Sliding Model Control in Electromechanical Systems. Taylor and Francis, London Philadelphia, 1999. [6] Ordaz, J. Patricio, Dominguez Ramirez, Omar Arturo., Novel sliding mode control for Euler-Lagrange systems: Nonadaptive and adaptive case, 4th IEEE latinoamerican robotics symposium, Monterrey, Nuevo Leon, Mexico, 9-14, November, 2007. [7] Parra, V. and Arimoto, Nolinear PID control with sliding modes for tracking of robots manipulators, Proceedings of the 2001, IEEE conference on control aplications, Mexico, 2001. [8] Romeo Ortega, Antonio Loria, Per Johan Nicklasson and Hebertt Sira- Ramirez, Passivity-based Control of Euler-Lagrange systems, Mechanical, Electrical, and Elehtromechanical Applications, Springer, 1998. [9] Sensable technologies, inc, PHANToM premium 1.0/1.5A, 3D touch components, hardware installation and technical manual, Revision 6.5, 18 August 1998. [10] Spong Mark and Vidyasagar M., Robot dynamics and control, 2005. [11] Vidyasagar M., Nonlinear systems analysis, Prentice, Hall, Englewood Cliffs, 1993.

where x represents the states (q, q ), Kp is a positive dened and symmetric matrix. From the Lyapunov stability theory it is known that for a system to be stable in a breakeven it requires to satisfy with certain properties, such as to nd a Lyapunov function that satises with V (x) > 0, that to be continuously differentiable and its rst temporary (x) < 0. derivative meets V To achieve these properties we suggest a Lyapunov function involving joint acceleration, i.e. that we consider the second order of the system at the error equations of the form q = q q d , and that it complies with the following conditions: l m q (t) = l m q qd 0, t l m q (t) = l m q q d 0, t t q (t) = l m q q d 0 l m
t t t

(20)

Given that ?? is a positive semidenite function, obtain the derivative of the Lyapunov candidate function, so that is follows:

1 T 1 T T T (x) = 1 q q + 1 q T q + 1 q V q+ 2 q Kp q + 2 q Kp 2 D (q ) 2 q D (q ) 2 D (q ) T T ( x) = (q ) q D(q ) q D q + q q V q+ 1 T Kp 2 (21) Replacing the reference of the acceleration error in the above equation it:

1 T (x) = q T D(q )( q V qq d ) + q D (q ) q+q T Kp 2

(22)