Tracking Control of Robot Manipulator Using Sliding Mode Controller With Performance Robustness

1999 ◽  
Vol 121 (1) ◽  
pp. 64-70 ◽  
Author(s):  
Chieh-Li Chen ◽  
Rui-Lin Xu
Keyword(s):  
Tracking Control ◽  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Design Procedure ◽  
Sliding Mode Controller ◽  
Systematic Design ◽  
And Performance ◽  
The Stability

The tracking control problem of robot manipulator is considered in this paper. A sliding mode controller design with global invariance is proposed using the concept of extended system and feedback linearization. The sliding surface is assigned such that the sliding mode motion will occur while the proposed control law is applied. This results in a system with global invariance. The stability and performance of the resulting system can be guaranteed by the proposed systematic design procedure.

Multirate Output Feedback Based Stochastic Sliding Mode Control

2016 ◽  
Vol 138 (12) ◽  
Author(s):  
A. J. Mehta ◽  
B. Bandyopadhyay
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Sliding Mode ◽  
Design Procedure ◽  
Sliding Mode Controller ◽  
The Past ◽  
Mode Control ◽  
Noise Covariance ◽  
Bounded Uncertainty ◽  
The Stability

In this paper, a multirate output feedback (MROF) based discrete-time sliding mode control for the stochastic system with slowly varying bounded uncertainty is proposed. The states are estimated by the multirate Kalman filter and are used for designing the stochastic sliding mode controller which guarantee the stability under the bounded uncertainty and the uncertain noise covariance. The proposed algorithm has advantage of computational and implementation simplicity as it requires only the past output and input information. The stochastic sliding band (SSB) is also calculated which is found to be wider as compared to the state feedback case. Finally, the design procedure for stochastic sliding mode controller is demonstrated with an illustrative example.

Robust fuzzy sliding mode control for tracking the robot manipulator in joint space and in presence of uncertainties

Robotica ◽  
2013 ◽  
Vol 32 (3) ◽  
pp. 433-446 ◽  
Author(s):  
Mohammad Reza Soltanpour ◽  
Mohammad Hassan Khooban ◽  
Mahmoodreza Soltani
Keyword(s):  
Sliding Mode Control ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Rule Base ◽  
Sliding Mode Controller ◽  
Fuzzy Sliding Mode Control ◽  
Ts Fuzzy Model ◽  
Mode Control ◽  
Fuzzy Sliding Mode

SUMMARYThis paper proposes a simple fuzzy sliding mode control to achieve the best trajectory tracking for the robot manipulator. In the core of the proposed method, by applying the feedback linearization technique, the known dynamics of the robot's manipulator is removed; then, in order to overcome the remaining uncertainties, a classic sliding mode control is designed. Afterward, by applying the TS fuzzy model, the classic sliding mode controller is converted to fuzzy sliding mode controller with very simple rule base. The mathematical analysis shows that the robot manipulator with the new proposed control in tracking the robot manipulator in presence of uncertainties has the globally asymptotic stability. Finally, to show the performance of the proposed method, the controller is simulated on a robot manipulator with two degrees of freedom as case study of the research. Simulation results demonstrate the superiority of the proposed control scheme in presence of the structured and unstructured uncertainties.

Sliding Mode Control of a 2DOF Planar Pneumatic Manipulator

2009 ◽  
Vol 131 (2) ◽  
Author(s):  
Michaël Van Damme ◽  
Bram Vanderborght ◽  
Ronald Van Ham ◽  
Björn Verrelst ◽  
Frank Daerden ◽  
...  
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
System Model ◽  
Sliding Mode Controller ◽  
Pneumatic Artificial Muscle ◽  
Actuator Dynamics ◽  
Pressure Dynamics ◽  
Muscle Actuators

This paper presents a sliding mode controller for a 2DOF planar pneumatic manipulator actuated by pleated pneumatic artificial muscle actuators. It is argued that it is necessary to account for the pressure dynamics of muscles and valves. A relatively detailed system model that includes pressure dynamics is established. Since the model includes actuator dynamics, feedback linearization was necessary to design a sliding mode controller. The feedback linearization and subsequent controller design are presented in detail, and the controller’s performance is evaluated, both in simulation and experimentally. Chattering was found to be quite severe, so the introduction of significant boundary layers was required.

scholarly journals Adaptive Sliding Mode Control Vibrations of Structures

2021 ◽  
Author(s):  
Fali Leyla ◽  
Zizouni Khaled ◽  
Saidi Abdelkrim ◽  
Bousserhane Ismail Khalil ◽  
Djermane Mohamed
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Structural Vibration ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Active Devices ◽  
The Stability ◽  
Adaptation Law ◽  
Low Sensitivity

The sliding mode controller is one of the interesting classical nonlinear controllers in structural vibration control. From its apparition, in the middle of the twentieth century, this controller was a subject of several studies and investigations. This controller was widely used in the control of various semi-active or active devices in the civil engineering area. Nevertheless, the sliding mode controller offered a low sensitivity to the uncertainties or the system condition variations despite the presence of the Chattering defect. However, the adaptation law is one of the frequently used solutions to overcome this phenomenon offering the possibility to adapt the controller parameters according to the system variations and keeping the stability of the whole system assured. The chapter provides a sliding mode controller design reinforced by an adaptive law to control the desired state of an excited system. The performance of the adaptive controller is proved by numerical simulation results of a three-story excited structure.

Sliding-Mode Observer as a Time-Variant Estimator for Control of Pneumatic Systems

2004 ◽  
Vol 127 (3) ◽  
pp. 499-502 ◽  
Author(s):  
Pascal Bigras
Keyword(s):  
Feedback Linearization ◽  
Discharge Coefficient ◽  
Sliding Mode ◽  
Estimation Error ◽  
Sliding Mode Observer ◽  
Sliding Mode Controller ◽  
Pneumatic Actuators ◽  
The Stability ◽  
Specific Sliding ◽  
Better Than

The force and position of pneumatic actuators are difficult to control, since their nonlinear model includes unknown variables such as temperature and the discharge coefficient. This paper presents a specific sliding-mode observer to estimate these unknown time-variant quantities. The stability of the estimation error is studied, and real-time results show that the proposed approach combined with a feedback linearization controller performs better than a standard sliding-mode controller.

Sliding mode control revisited

2020 ◽  
Vol 42 (14) ◽  
pp. 2698-2707
Author(s):  
Masoud Bahraini ◽  
Mohammad Javad Yazdanpanah ◽  
Shokufeh Vakili ◽  
Mohammad Reza Jahed-Motlagh
Keyword(s):  
Nonlinear Systems ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Procedure ◽  
Systematic Design ◽  
Closed Loop System ◽  
Guaranteed Stability ◽  
Sliding Mode Controllers ◽  
Bounded Disturbances ◽  
System States

Controller design for nonlinear systems in its general form is complicated and an open problem. Finding a solution to this problem becomes more complicated when unwanted terms, such as disturbance, are taken into account. To provide a robust design for a subclass of nonlinear systems, sliding mode controllers (SMCs) are used. These controllers have a systematic design procedure and can reject bounded disturbances and at the same time guarantee stability. The guaranteed stability is achieved by separating system states into two parts and assuming that the input to state stability (ISS) condition holds for internal dynamics. This condition restricts the applicability of the SMC and limits the system performance when the controller is designed based on that. In order to remove this restriction and improve the performance, the ISS condition has been relaxed in this study. The relaxation is performed by redesigning SMCs based on suggested Lyapunov functions. The proposed idea insures global asymptotic stability of the closed loop system and is used to revise different well-known SMCs such as conventional SMC, terminal SMC, non-singular terminal SMC, integral SMC, super-twisting SMC, and super-twisting integral SMC. Comparisons between conventional and revised versions are made using simulation to demonstrate excellence of the revisited controllers.

Robust Hybrid Fractional Order Proportional Derivative Sliding Mode Controller for Robot Manipulator Based on Extended Grey Wolf Optimizer

Robotica ◽  
2019 ◽  
Vol 38 (4) ◽  
pp. 605-616 ◽  
Author(s):  
Hossein Komijani ◽  
Mojtaba Masoumnezhad ◽  
Morteza Mohammadi Zanjireh ◽  
Mahdi Mir
Keyword(s):  
Fractional Order ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Lyapunov Theory ◽  
Grey Wolf Optimizer ◽  
Sliding Mode Controller ◽  
Grey Wolf ◽  
Robust Controller ◽  
The Stability ◽  
Proportional Derivative Controller

SUMMARYThis paper presents a novel robust hybrid fractional order proportional derivative sliding mode controller (HFOPDSMC) for 2-degree of freedom (2-DOF) robot manipulator based on extended grey wolf optimizer (EGWO). Sliding mode controller (SMC) is remarkably robust against the uncertainties and external disturbances and shows the valuable properties of accuracy. In this paper, a new fractional order sliding surface (FOSS) is defined. Integrating the fractional order proportional derivative controller (FOPDC) and a new sliding mode controller (FOSMC), a novel robust controller based on HFOPDSMC is proposed. The bounded model uncertainties are considered in the dynamics of the robot, and then the robustness of the controller is verified. The Lyapunov theory is utilized in order to show the stability of the proposed controller. In this paper, the EGWO is developed by adding the emphasis coefficients to the typical grey wolf optimizer (GWO). The GWO and EGWO, then, are applied to optimize the proposed control parameters which result in the optimized GWO-HFOPDSMC and EGWO-HFOPDSMC, respectively. The effectivenesses of the optimized controllers (GWO-HFOPDSMC and EGWO-HFOPDSMC) are completely verified by comparing the simulation results of the optimized controllers with the typical FOSMC and HFOPDSMC.

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