A Novel Finite Time Sliding Mode Control for Robotic Manipulators

Zhao, Yixuan; Sheng, Yongzhi; Liu, Xiangdong

doi:10.3182/20140824-6-za-1003.00135

Cited by 10 publications

(3 citation statements)

References 19 publications

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“…Howeve, this approach exhibits high frequency oscillations called chattering when the system state reaches the sliding surface, which has negative effects on the actuators control and excite the undesirable unmodeled dynamics. Recently, proportional integral derivative sliding mode controllers (SMC-PIDs) have been examined as a powerful nonlinear controller [1][2][3][4][5][6][7]. An adaptive sliding mode control was treated in several papers [8][9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Optimization of sliding mode control with PID surface for robot manipulator by Evolutionary Algorithms

Loucif

Kechida

2020

Open Computer Science

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In this paper, a sliding mode controller (SMC) with PID surface is designed for the trajectory tracking control of a robot manipulator using different optimization algorithms such as, Antlion Optimization Algorithm (ALO) Sine Cosine Algorithm (SCA) Grey Wolf Optimizer (GWO) and Whale Optimizer Algorithm (WOA). The aim of this work is to introduce a novel SMC-PID-ALO to control nonlinear systems, especially the position of two of the joints of a 2DOF robot manipulator. The basic idea is to determinate four optimal parameters (Kp, Ki, Kd and lamda) ensuring the best performance of a robot manipulator system, minimizing the integral time absolute error criterion (ITAE) and the integral time square error criterion (ISTE). The robot manipulator is modeled in Simulink and the control is implemented using the MATLAB environment. The obtained simulation results prove the robustness of ALO in comparison with other algorithms.

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Section: Introductionmentioning

confidence: 99%

Optimization of sliding mode control with PID surface for robot manipulator by Evolutionary Algorithms

Loucif

Kechida

2020

Open Computer Science

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“…In recent years, technological advances in computer systems and sensors has lead in the development and application of advanced control theories and robotics. These advances are presented jointly, since the nonlinear models of robots have served as a good study case in order to illustrate the general concepts of analysis and design of advanced control theories (Canudas de Wit, Siciliano, & Bastin, 1996), for example: adaptive control (Tso & Lin, 1996), sliding modes control (Zhao, Sheng, & Liu, 2014), Lyapunov based control (Halalchi, Bara, & Laroche, 2010), nonlinear predictive control (Wilson, Charest, & Dubay, 2016), fuzzy logic control (Chen, Wang, Zhai, & Gao, 2017), among others. The main reason lies in its ability to manipulate materials, parts, tools or specialized devices by programming their movements.…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Control for a Three DoF Manipulator Robot

Benitez-Garcia

Villarreal-Cervantes

2018

Enfoque UTE

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In the classical approach of Time-Triggered Control (TTC), the control signal is updated at each sampling time as well as the system states to be controlled, which could imply a redundancy in the computational calculation as well as in the transfer of information in the regulation objective. On the other hand, the Event-Triggered Control (ETC) approach performs the same task in an asynchronous way, i.e,, it only updates the control signal when a performance requirement is violated and the states are updated at each sampling time. This reduces the amount of computational calculation without affecting the performance of the closed loop system. For this reason, in the present work the ETC is developed for the stabilization of a manipulator robot with three Degree of Freedom (DoF) in the joint space where a Lyapunov Control Function (LCF) is proposed to formulate the event function (e¯), which indicates whether or not is required the control signal updating. Simulation results show the reduction of the updates compared with a TTC.

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“…However, the tracking control achieved in finite time is required in some practical situations. It can be observed from the literature that the finite time is mainly achieved by the sign function of states [31] or relative states [32] for the nonlinear systems. Unlike most of the methods mentioned above, state-space partitioning [33,34] is embedded into the switched second-order sliding-mode (S-SOSM) controllers, such that the trajectories can be driven onto the desire trajectory in finite time and do not require the knowledge of the bounds of the uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Finite‐Time Switched Second‐Order Sliding‐Mode Control of Nonholonomic Wheeled Mobile Robot Systems

et al. 2018

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A continuous finite-time robust control method for the trajectory tracking control of a nonholonomic wheeled mobile robot (NWMR) is presented in this paper. The proposed approach is composed of conventional sliding-mode control (SMC) in the internal loop and modified switched second-order sliding-mode (S-SOSM) control in the external loop. Sliding-mode controller is equivalently represented as stabilization of the nominal system without uncertainties. An S-SOSM control algorithm is employed to counteract the impact of state-dependent unmodeled dynamics and time-varying external disturbances, and the unexpected chattering has been attenuated significantly. Particularly, state-space partitioning is constructed to obtain the bounds of uncertainty terms and accomplish different control objectives under different requirements. Simulation and experiment results are used to demonstrate the effectiveness and applicability of the proposed approach.

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A Novel Finite Time Sliding Mode Control for Robotic Manipulators

Cited by 10 publications

References 19 publications

Optimization of sliding mode control with PID surface for robot manipulator by Evolutionary Algorithms

Optimization of sliding mode control with PID surface for robot manipulator by Evolutionary Algorithms

Event-Triggered Control for a Three DoF Manipulator Robot

Finite‐Time Switched Second‐Order Sliding‐Mode Control of Nonholonomic Wheeled Mobile Robot Systems

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