Discrete first and second order sliding mode controllers for a pneumatic artificial muscles robot manipulator

2015 ◽  
Author(s):  
Ratiba Fellag ◽  
Mustapha Hamerlain ◽  
Salah Laghrouche
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Second Order ◽  
Artificial Muscles ◽  
Sliding Mode Controllers ◽  
Pneumatic Artificial Muscles ◽  
Second Order Sliding Mode

scholarly journals Second Order Sliding Mode Control of the Coupled Tanks System

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Fayiz Abu Khadra ◽  
Jaber Abu Qudeiri
Keyword(s):  
Performance Measures ◽  
Sliding Mode ◽  
Absolute Error ◽  
Second Order ◽  
Liquid Level ◽  
First Order ◽  
Sliding Mode Controllers ◽  
The Time Domain ◽  
Domain Performance ◽  
Second Order Sliding Mode

Four classes of second order sliding mode controllers (2-SMC) have been successfully applied to regulate the liquid level in the second tank of a coupled tanks system. The robustness of these classes of 2-SMC is investigated and their performances are compared with a first order controller to show the merits of these controllers. The effectiveness of these controllers is verified through computer simulations. Comparison between the controllers is based on the time domain performance measures such as rise time, settling time, and the integral absolute error. Results showed that controllers are able to regulate the liquid level with small differences in their performance.

Novel quasi-continuous super-twisting high-order sliding mode controllers for output feedback tracking control of robot manipulators

2014 ◽  
Vol 228 (17) ◽  
pp. 3240-3257 ◽  
Author(s):  
Mien Van ◽  
Hee-Jun Kang ◽  
Kyoo-Sik Shin
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Sliding Mode ◽  
Second Order ◽  
High Order ◽  
Sliding Mode Controller ◽  
Sliding Mode Controllers ◽  
Sliding Manifold ◽  
Feedback Tracking ◽  
Second Order Sliding Mode

In this paper, a robust output feedback tracking control scheme for uncertain robot manipulators with only position measurements is investigated. First, a quasi-continuous second-order sliding mode (QC2S)-based exact differentiator and super-twisting second-order sliding mode (STW2S) controllers are designed to guarantee finite time convergence. Although the QC2S produces continuous control and less chattering than that of a conventional sliding mode controller and other high-order sliding mode controllers, a large amount of chattering exists when the sliding manifold is defined by the equation [Formula: see text]. To decrease the chattering, an uncertainty observer is used to compensate for the uncertainty effects, and this controller may possess a smaller switching gain. Compared to the QC2S controller, the STW2S has less chattering and tracking error when the system remains on the sliding manifold [Formula: see text]. Therefore, to further eliminate the chattering and obtain a faster transient response and higher tracking precision, we develop a quasi-continuous super-twisting second-order sliding mode controller, which integrates both the merits of QC2S and STW2S controllers. The stability and convergence of the proposed scheme are theoretically demonstrated. Finally, computer simulation results for a PUMA560 robot comparing with conventional QC2S and STW2S controllers are shown to verify the effectiveness of the proposed algorithm.

Second-Order Sliding Mode Controllers and Differentiators

2014 ◽  
pp. 143-182 ◽  
Author(s):  
Yuri Shtessel ◽  
Christopher Edwards ◽  
Leonid Fridman ◽  
Arie Levant
Keyword(s):  
Sliding Mode ◽  
Second Order ◽  
Sliding Mode Controllers ◽  
Second Order Sliding Mode
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