Table Of ContentStudies in Systems, Decision and Control 175
Nabil Derbel · Jawhar Ghommam
Quanmin Zhu Editors
New
Developments
and Advances
in Robot
Control
Studies in Systems, Decision and Control
Volume 175
Serieseditor
JanuszKacprzyk,PolishAcademyofSciences,Warsaw,Poland
e-mail:[email protected]
The series “Studies in Systems, Decision and Control” (SSDC) covers both new
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Moreinformationaboutthisseriesathttp://www.springer.com/series/13304
Nabil Derbel (cid:129) Jawhar Ghommam (cid:129) Quanmin Zhu
Editors
New Developments and
Advances in Robot Control
123
Editors
NabilDerbel JawharGhommam
SfaxEngineeringSchool DepartmentofElectrical
UniversityofSfax andComputerEngineering
Sfax,Tunisia CollegeofEngineering
SultanQuaboosUniversity
QuanminZhu Muscat,Oman
UniversityoftheWestofEngland
Bristol,UK
ISSN2198-4182 ISSN2198-4190 (electronic)
StudiesinSystems,DecisionandControl
ISBN978-981-13-2211-2 ISBN978-981-13-2212-9 (eBook)
https://doi.org/10.1007/978-981-13-2212-9
LibraryofCongressControlNumber:2018964939
©SpringerNatureSingaporePteLtd.2019
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Preface
The book New developments and Advances in Robot Control is intended to
encourage technology transfer in the field of autonomous systems and robotics.
Therapiddevelopmentofnewmechatronicsystemshasbeenstrongpropellersfor
theadvancementofcontrolsystemstheoryandapplication,aswellasthefieldsof
sensors, industrial processes, and computer methods. Nonetheless, distinct robotic
systems with variety of profiles have stillto be developed and controlled in a way
that good performances are guaranteed. This book provides an update on selected
topicsinthefieldofrobotics.Italsooffersanopportunityforresearcherstopresent
an extended exposition of their new works in all aspects of robotic systems for
a wider and rapid dissemination by opening up new challenges to understanding
and developing novel control strategies for such robotic systems. Hence, this
book is fairly balanced between mathematical theory and practical applications of
control engineering aspects for robotic systems ranging from robot manipulators
to aerial vehicles. This makes the book suitable for final year undergraduates and
postgraduates,lecturers,andpractitionersintheareasofroboticsystemsandcontrol
engineering.Itisthenhopedthatthecompiledreferencesbyeachauthoredchapter
would provide insightful and valuable information about related work in the field
andmakeupanewstartingupforfurtherresearchstudies.
The book consists of 16 contributed chapters by scientific experts who are
specialized in various topics addressed in this book, and it focuses on multidisci-
plinaryapplicationsinthefieldofrobotics.Thisvolumehasbeenorganizedintothe
followingchapters,whichareregroupedintotwoparts.
(cid:129) The first part of the book includes nine chapters on controlling robotic manip-
ulators. The first chapter introduces a novel resource allocation framework for
cloud robotics and explores the trends of robotic technology in Industry 4.0.
The second chapter proposes a novel approach based on 4×2 visual approach
to control a robotic manipulator. In Chap.3, the parallel robotic machine is
extensively studied and controlled with different control approaches. Real-time
experimentation has been conducted to demonstrate the effectiveness of the
proposed approaches. Chapter 4 addresses the modeling problem of a cable-
v
vi Preface
driven parallel robot. Chapters 5 and 6 employ the backstepping techniques
along with advanced robust control schemes to control the 7-DOF Annat robot
manipulator.InChap.7,thenonlinearobserverisemployedtotackletheproblem
of fault detection and isolation for robotic manipulator. Chapter 8 proposes a
novel robust technique for controlling a robotic manipulator using the Crone
control formalism. Finally, Chap.9 applies the sliding mode control technique
tocontroltheupper-extremityexoskeletonrobotforrehabilitationpurposes.
(cid:129) Thesecondpart,containingsevenchapters,coversthecontrolofdifferenttypes
ofvehiclesanddiscussesinseparatechaptersdifferentadoptedcontrolstrategies.
Chapter 10 applies Particle Swarm to design an optimal PID 2-DOF controller
forahybridvehicle.Chapter11describesadigitalstabilizingcontrollerfortwo-
wheeled robot, where the matrix fraction description theory is fully employed
along with the digital PID controller for the tracking and stabilization of the
two-wheeled robot. Chapter 12 proposes a path-planning algorithm based on
optimizedfuzzylogiccontrollertosteeramobilerobotinitsenvironment.Along
thesamespiritofpath-planning,Chap.13offersastrategyforthenavigationof
mobilerobotsinaclutteredenvironment,usingartificialpotentialfunctionbased
onfuzzylogicdesign.Chapter14extendsthenavigationofsinglemobilerobot
tomultiplesagentsmovinginacoordinatedfashionastheytrytocoveraspatial
region in an optimal way. New sets of flocking-based algorithms are proposed
toillustratetheefficacyofthestrategyincoveringwideareainanoptimalway.
Finally, the last two chapters expose the reader to new challenge in the motion
control of unmanned aerial vehicle, in particular, Chap.15 solves the tracking
controlproblemofquadrotor-typeUAV.Acombinationofthebacksteppingand
theRISEtechniquesisemployedtoguaranteerobustthree-dimensionaltracking
algorithm for quadrotor-UAV. Chapter 16 addresses the problem of designing a
model-based estimation algorithm for the unobservable flapping angles while a
near-hoverflightisconsidered.
Wewouldliketoacknowledgetheeffortsofmanyreviewerswhodevotedsome
of their time in providing feedback to the chapter’s contributors; thus, all chapters
were meticulously peer reviewed. We would also acknowledge the efforts of all
authors who contributed to this book. They are among the researchers who keep
enlargingtheenvelopeonthestateoftheartinthefieldofrobotics.Lastly,wewould
like to sincerely express our deepest gratitude to the Springer editorial staff for
theircontinuoussupport,assistance,andsignificantimprovementinthemanuscript.
Withouttheirhelp,thebookwouldnotbepublishedasscheduled.
Sfax,Tunisia NabilDerbel
Muscat,Oman JawharGhommam
Bristol,UK QuanminZhu
June2018
Contents
1 CloudRobotic:OpeningaNewRoadtotheIndustry4.0 ............. 1
Manal Aissam, Mohammed Benbrahim,
andMohammedNabilKabbaj
2 4×2DVisualServoingApproachforAdvancedRobot
Applications................................................................. 21
MohamadBdiwi,JozefSuchý,andMatthiasPutz
3 A Redundant Parallel Robotic Machining Tool: Design,
ControlandReal-TimeExperiments..................................... 39
HusseinSaied,AhmedChemori,MicaelMichelin,MaherEl-Rafei,
ClovisFrancis,andFrancoisPierrot
4 Cable-DrivenParallelRobotModellingforRehabilitationUse....... 81
Hachmia Faqihi, Maarouf Saad, Khalid Benjelloun,
MohammedBenbrahim,andM.NabilKabbaj
5 ControlofRobotManipulatorsUsingModifiedBackstepping
SlidingMode ................................................................ 107
YassineKali,MaaroufSaad,andKhalidBenjelloun
6 Robot Manipulator Control Using Backstepping
withLagrange’sExtrapolationandPICompensator .................. 137
Yassine Kali, Maarouf Saad, Jean-Pierre Kenné,
andKhalidBenjelloun
7 Nonlinear Observer-Based Fault Detection and Isolation
foraManipulatorRobot................................................... 163
KhaoulaOulidiOmali,M.NabilKabbaj,andMohammedBenbrahim
8 CroneControllerDesignforaRobotArm .............................. 187
AhmedAbid,RimJallouli–Khlif,NabilDerbel,andPierreMelchior
vii
viii Contents
9 Cartesian Sliding Mode Control of an Upper Extremity
ExoskeletonRobotforRehabilitation.................................... 201
Brahim Brahmi, Maarouf Saad, Cristobal Ochoa-Luna,
MohammadH.Rahman,andAbdelkrimBrahmi
10 Canonical Particle Swarm Optimization Algorithm
BasedaHybridVehicle .................................................... 221
MohamedElhediHmidi,InesBenSalem,andLiliaElAmraoui
11 DigitalStabilizingandControlforTwo-WheeledRobot............... 237
BachirNail,AbdellahKouzouandAhmedHafaifa
12 MobileRobotPathPlanningBasedonOptimizedFuzzyLogic
Controllers .................................................................. 255
L.Cherroun,M.Boumehraz,andA.Kouzou
13 DesignandImplementationofaReactiveNavigationSystem
foraSmartRobotUsingUdooQuad..................................... 285
MohamedNjahandRidhaEl-Hamdi
14 AreaCoverageAlgorithmsforNetworkedMulti-robotSystems ..... 301
LamiaIftekhar,H.M.NafidRahman,andImranRahman
15 Backstepping-Based Nonlinear RISE Feedback Control
for an Underactuated Quadrotor UAV Without Linear
VelocityMeasurements..................................................... 321
JawharGhommam,LuisF.Luque-Vega,andMaaroufSaad
16 On the Tip–Path-Plane Flapping Angles Estimation
forSmall–ScaleFlybarlessHelicoptersatNear–Hover ................ 343
MohammadK.Al–SharmanandMamounF.Abdel–Hafez
Chapter 1
Cloud Robotic: Opening a New Road
to the Industry 4.0
ManalAissam,MohammedBenbrahim,andMohammedNabilKabbaj
Abstract Cloud Robotics (CR) is a rising field of robotics rooted in cloud com-
puting,cloudstorage,andotherInternettechnologiescenteredaroundthebenefits
of converged infrastructure and shared services. It allows robots to benefit from
thepowerfulcomputational,storage,andcommunicationsresourcesofmoderndata
centers.Inaddition,itremovesoverheadsformaintenanceandupdates,andreduces
dependence on custom middleware. This chapter reviews the concept of cloud-
enabledroboticswithsomeofthemostapplicationsrelatedtoit.Also,itexplores
the trends of robotic technology in Industry 4.0. Since the advent of Information
andCommunicationTechnologies(ICT),economiesaroundtheworldhaveground
dramatically as companies can compete on a global scale. The Fourth Industrial
Revolution will be based on cyber-physical systems, the Internet of Things and
InternetofServices.
Keywords Cloudrobotics · Cloudcomputing · Robotization · Industry4.0
1.1 Introduction
The principle of Cloud Computing (CC) dates back to the 1990s, where the
foundations for the distribution of computing power as well as distributed data
storage in networked computer systems were laid. CC is one of the dominant
computingparadigm,SincepastfewyearsRoboticsapplicationshavealsostartedto
buildaroundtheseparadigms.Withusingcloudinfrastructureinconjunction with
robotics, the development of the term CR from Kuffner (2010) has led to a wide
arrayofnewresearchinterests.
M.Aissam((cid:2))·M.Benbrahim·M.N.Kabbaj
FacultyofScienceDharElMarhraz,UniversityofSidiMohamedBenAbdellah,Fez,Morocco
e-mail:[email protected];[email protected];
[email protected]
©SpringerNatureSingaporePteLtd.2019 1
N.Derbeletal.(eds.),NewDevelopmentsandAdvances
inRobotControl,StudiesinSystems,DecisionandControl175,
https://doi.org/10.1007/978-981-13-2212-9_1
