Sliding computed torque control based on

passivity for a haptic device: PHANToM premium

1.0
Fabi an Alfonso Daz L opez*, Omar Domnguez 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
ResumenIn 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 expe-
rimental platform an haptic interface: PHANToM Premium
1.0
I. INTRODUCTION
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), proportional-
integral (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 intro-
duced, 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
interface (PHANToM premium 1.0) for movement and
tracking of trajectories.
I-A. Justication
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
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
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
The PHANToM premium 1.0 is a haptic interface manu-
factured 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
We consider the class of rigid, fully actuated, uncons-
trained 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)
where E(q, q) is the systems total energy (Hamiltonian),
and q = [q
1
...q
n
]
T
, describes a generalized coordinates
vector as a function of time.
The difference between kinetic energy K(q, q) and poten-
tial 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)
Kinetic energy is obtained as follows:
K =
n

i=1
1
2
m
i
gv
2
i
=
1
2
q
T
D(q) q (3)
Potential energy U(q) is obtained as follows:
u =
n

i=1
1
2
m
i
gh
2
i
(4)
where m
i
is the i mass of the i link, h
i
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- La-
grange equations of motion are:
d
dt
_
L(q, q)

q
i
_

L(q, q)

q
i
=
i
(5)
where
i
corresponds to the torque of the i-th actuator.
The Lagrangian L(q, q), given by 1 is rewritten as:
L(q, q) =
1
2
q
T
H(q) q U(q) (6)
Thus the resulting equation can be written in scalar form:
n

j=1
D
ij
q
j
+
n

j=1
n

k=1
C
ijk
q
j
q
k
+G
i
=
i
(7)
which shows the structure of the velocity product terms.
C
ijk
are known as Christoffel symbols of the rst type, and
are given by:
C
ijk
=
1
2
_
H
ij
q
k
+
H
ik
q
j
+
H
ik
q
i
_
(8)
They are functions of only the position variables, q
i
. The
elements of L(q, q) can be dened as:
C
ik
=
n

k=1
C
ijk
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 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 (11)
and stands a force of 8.5N.
III-A. Properties of Euler Lagrange systems
The dynamic equation 10 have the following properties
(?):
There exists some positive constant such that
D(q) I (12)
where I denotes the nn 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
T
_

D(q) 2C(q, q)
_
q = 0 (13)
this property is known as the anty-symmetry property.
From the passivity property we have that:
V (x) V (x
0
)
t
_
0
y
T
(s)u(s)ds (14)
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 va-
riable change. For the Euler-Lagrange system, energy
function E as the storage function, and we have the
passivity property as:
E(t) E(0)
t
_
0
q
T
dt (15)
where q is the output and is the input
IV. SLIDING MODE CONTROL
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 main-
tained 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 (?).
IV-A. Outline of sliding mode control methodology
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 deco-
upled 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
Analogous to the simplest rst-order tracking relay sys-
tem with state variable x(t):
x(t) = f(x) + (16)
with the bounded function f(x), |f(x)| f
0
= 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
sign(e)
_
_
_

0
, e > 0
discontinuity, e = 0

0
, e < 0
(17)
where
0
is constant, we have the hyperbolic tangent
function, described by the limit:
lm

tanh(
e
) sign(e) (18)
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 ad-
dition: tanh(x) = 0, x = 0
The combination of hyperbolic functions with other fun-
ctions is very interesting, for example:
In(cosh(x)), x is positive denite
In(cosh(x)) = 0 for x = 0.
xtanh(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 fun-
ction 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:
V (x) =
1
2

q
T
D(q)

q +
1
2
q
T
K
p
q (19)
where x represents the states (q, q), K
p
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
derivative meets

V (x) < 0.
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:
lm
t
q(t) = lm
t
q q
d
0,
lm
t

q(t) = lm
t
q q
d
0,
lm
t

q(t) = lm
t
q q
d
0
(20)
Given that 20 is a positive semidenite function, obtain
the derivative of the Lyapunov candidate function, so that
is follows:

V (x) =
1
2
q
T
D(q)

q +
1
2

q
T

D(q)

q +
1
2
q
T
D(q)

q
+
1
2

q
T
K
p
q +
1
2
q
T
K
p

V (x) =

q
T
D(q) q +
1
2

q
T

D(q)

q + q
T
K
p

q
(21)
Replacing the reference of the acceleration error in the
above equation it:

V (x) =

q
T
D(q)( q q
d
) +
1
2

q
T

D(q)

q + q
T
K
p

q (22)
wich can be developed in the following form:

V (x) =

q
T
D(q) q D(q) q +
1
2

q
T

D(q)

q + q
T
K
p

V (x) =

q
T
[ C(q, q) q G(q)] D(q) q
d
+
1
2

q
T

D(q)

q + q
T
K
p

q
(23)
however it is known that C(q, q)

q = C(q, q) qC(q, q) q
d
,
which implies that the centripetal and Coriolis forces matrix
can be expressed as follows:
C(q, q)

q = C(q, q) q C(q, q) q
d
(24)
so ?? can be rewritten as follows:

V (x) =

q
T
_
C(q, q)

q +C(q, q) q
d
G(q)

D(q) q
d
+
1
2

q
T

D(q)

q + q
T
K
p

q
(25)
this last equation gives a guideline to a more specic
design, as presented below:

V (x) =

q
T

q
T
C(q, q)

q
T
C(q, q) q
d

q
T
G(q)

q
T
D(q) q
d
+
1
2

q
T

D(q)

q + q
T
K
p

V (x) =

q
T

q
T
C(q, q) q
d

q
T
G(q)

q
T
D(q) q
d
+

q
T
_

D(q)

q
T
C(q, q)
_

q + q
T
K
p

q
(26)
Applying the dynamic property of anti-symmetry it re-
sults:

V (x) =

q
T
[ C(q, q) q
d
G(q) D(q) q
d
+K
p
q]
(27)
For asymptotic convergence (Lyapunov stability theorem)
is required

V (x) 0 , in this case a function is designed

V as follows:

V (x) =

q
T
_
K
d

q +K
L
tan H( q)

(28)
The control input or joint torque that makes the last
equation fullled is:
= K
p
qK
d

qK
L
tan H( q)+D(q) q
d
+C(q, q) q
d
+G(q)
(29)
This control is a rst order sliding computed torque con-
troller. As you can see it is necessary a dynamic feedback
like Fig. 1 shows.
VI. EXPERIMENTAL RESULTS
VI-A. Experimental platform
The experimental platform consists of a haptic device
PHANToM Premium 1.0, a Intel Core 2 at 2.66 GHz and
2 GB of RAM running Windows XP, Visual C ++ 2010
employee the Open Haptics classes, as shown in Fig. 2,
and for graph the results we used MATLAB 2010.
Figura 1. Physical interpretation of a dynamic compensation controller
Figura 2. Experimental platform
VI-B. Experiments
For the experimental validation the device performs the
structured tracking of a closed trajectory (circumference).
The experiment is dened by the following parametric
equations:
x
ref
= h +r cos(wt)
Z
ref
= h +r sen(wt)
y
ref
= 0
(30)
where h represent its center, r the radius,
w = 2f(rad/ sec) corresponds to the angular velocity, f
is the frequency and nally T = 1/f corresponds to the
period.
Fig. 3 shows the performance of the end effector and the
reference in the PHANAToM 1.0s workspace. As we can
see the end effector follows the reference without greater
difculty reaching the nal value in 8sec. By applying the
control law 29 on the system whose dynamics are described
by 10 with K
p
= 1.699995diag, K
d
= 0.03171diag and
K
l
= 1.0diag the experimental results are generated in
Fig. 7. Fig. 4 shows the joint position desired and the real
joint, which tries to reach quickly the reference generating a
appreciable error. Fig. 5 shows the joint position error which
has a considerable value at the beginning of the experiment
but then begins to approach zero for the remainder. Fig. 6
shows the control signal or torque applied to the actuators
to implement the control law. Fig. 7 shows the behavior
of the proposed Lyapunov function 20, as we can see
is dened positive during the time of the experiment. In
Fig. 8 can be seen that the derivative of the proposed
Lyapunov function 27 is negative denite at all times of
the experiment, ensuring so global asymptotic stability in
the system.
VII. CONCLUSION
When performing the tracking of a robot manipulator,
it is vitally important to evaluate different control laws,
and seek the most optimal and that better suits our needs.
Caring for the life of our actuators is an important part
in the development of such laws. In this paper has been
presented a class of global stable control for Euler-Lagrange
systems. With the dynamic properties, the passivity and the
Lyapunov stability theory, we can design that control law,
and guarantee the asymptotic convergence. The injection of
stability in the sense of Lyapunov is a powerful design tool,
allowing remaining free energy of a system.
VIII. ACKNOWLEDGMENT
The rs author would like to thank to CONACYT for
master scholarships awarded during the period September
2010 - September 2012, with registration number 372724.
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Figura 3. Cartesian workspace
Figura 4. Desired and real joint positions
Figura 5. Joint position error
Figura 6. Control signal or torque
Figura 7. Lyapunov function
Figura 8. Lyapunov functions derivative