A New Time-Varying Feedback RISE Control for 2nd-Order Nonlinear MIMO Systems: Theory and Experiments

Hussein Saied 1 Ahmed Chemori 1 Mohamed Bouri 2 Maher Rafei 3 Clovis Francis 3 François Pierrot 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 EPFL - Ecole Polytechnique Fédérale de Lausanne
3 ULFG - Faculty of Engineering [Lebanese University]
Abstract : This study focuses on the development of a new class of the Robust Integral of the Sign of the Error (RISE) control law adequate for second-order nonlinear multi-input-multi-output systems. A revisit for the original RISE is done by altering some static feedback gains into time-varying nonlinear ones depending on the system states. The proposed controller takes advantage of both RISE control robustness towards uncertainties and the special behavior of nonlinear feedback gains towards time-varied parameters. A Lyaponuv-based stability analysis to prove the semiglobal asymptotic tracking of the proposed new controller is included. In order to validate the relevance of the proposed controller, real-time experimental results are presented and discussed. Experiments have been conducted on a Delta parallel manipulator, in different operating conditions including payload and speed variations.
Keywords : RISE control Nonlinear feedback gains Parallel kinematic manipulators Stability analysis Real-time experiments
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Submitted on : Thursday, December 12, 2019 - 7:58:52 AM
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LIRMM | DEXTER | MIPS | UNIV-MONTPELLIER | CNRS | TDS-MACS

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Hussein Saied, Ahmed Chemori, Mohamed Bouri, Maher Rafei, Clovis Francis, et al.. A New Time-Varying Feedback RISE Control for 2nd-Order Nonlinear MIMO Systems: Theory and Experiments. International Journal of Control, Taylor & Francis, 2019, ⟨10.1080/00207179.2019.1704063⟩. ⟨lirmm-02406094⟩

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