A Novel Model-Based Robust Super-Twisting Sliding Mode Control of PKMs: Design and Real-Time Experiments

Saied, Hussein; Chemori, Ahmed; Rafei, Maher El; Francis, Clovis

doi:10.1109/iros51168.2021.9636168

Cited by 6 publications

(3 citation statements)

References 25 publications

(33 reference statements)

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“…Additionally, comparisons with vanilla inverse dynamics control (IDC) and robust inverse dynamics control (RIDC) under the same working conditions are also reported. Meanwhile, we also introduce the model-based super-twisting sliding mode control method reported in [37] for a deeper experimental comparison. To alleviate chattering, a nonlinear disturbance observer is introduced to this sliding mode control design.…”

Section: B Experiments 1: Application In Tracking Control Tasksmentioning

confidence: 99%

A Systematic Trajectory Tracking Framework for Robot Manipulators: An Observer-Based Nonsmooth Control Approach

Han,

Mao,

Zhang

et al. 2024

IEEE Trans. Ind. Electron.

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The mechanical design of a robot often influences the choice of control strategy, especially for highdimensional manipulator systems with multiple inputs and outputs. Striking a balance between hardware and software, it remains a significant challenge to design a control framework that is both easy to implement and highperforming. This paper addresses this concern by developing a systematic control architecture for trajectory tracking problems, focusing solely on position measurements. The approach involves constructing a dynamic model of the manipulator in joint space through parameter identification techniques. A non-smooth observer is then devised to estimate unmeasured states, unknown disturbances, and uncertain nonlinear functions in real-time, which are incorporated into a non-smooth feedback control design to provide a control solution. The stability of the system is ensured using the homogeneous system theory and Lyapunov theorems. To validate the effectiveness and feasibility of the proposed tracking control approach, extensive evaluations are conducted on a six-degree-of-freedom (6-DoF) manipulator, including tests for tracking performance and repeatability.

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Section: B Experiments 1: Application In Tracking Control Tasksmentioning

confidence: 99%

A Systematic Trajectory Tracking Framework for Robot Manipulators: An Observer-Based Nonsmooth Control Approach

Han,

Mao,

Zhang

et al. 2024

IEEE Trans. Ind. Electron.

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“…Numerical simulation results demonstrated the effectiveness of the proposed control method. In [39], experimental results of the implementation of a computed-torque ST-SMC on a parallel robot have been shown. The conventional computedtorque ST-SMC has shown bad behavior with high-chattering effects and mechanical vibrations.…”

Section: Introductionmentioning

confidence: 99%

FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs

et al. 2023

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This paper deals with the development and implementation of a novel feedforward super-twisting sliding mode controller for robotic manipulators. A full stability analysis based on a Lyapunov candidate is established showing a local asymptotic finite-time convergence of the proposed controller in the presence of upper bounded disturbances. Its robustness towards parametric uncertainties and system disturbances, thanks to the super-twisting approach, is pointed out. In addition, the feedforward dynamic term of the proposed controller that can compensate for the model nonlinearities is not sensitive to measurement noise. Real-time experiments have been conducted on two parallel manipulators: a 5-DOF SPIDER4 PKM and a 3-DOF Delta PKM. The effectiveness of the proposed controller is validated in different scenarios, including the nominal case and robustness towards parametric variations (payload) and speed changes.

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“…To counteract this effect several strategies have been proposed in the literature, ranging from adaptive control schemes [24][25][26][27], to sliding mode robust controllers [28][29][30][31]. The present paper investigates a centralized control strategy in which an integral contribution is added to the base TSID regulator, yielding the task space integral inverse dynamics controller (TSIIDC); its block diagram is represented in Figure 3.…”

mentioning

confidence: 99%

An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control

Righettini,

Strada,

Cortinovis

et al. 2024

Robotics

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High-speed pick-and-place industrial applications often use parallel kinematic robots due to their high stiffness and dynamic performance; furthermore, the latter not only depends on the mechanical characteristics of the robots but also on the control algorithm. The literature shows several theoretical contributions to such controllers, mainly tested at the simulation level or on simple proof-of-concept laboratory equipment that execute low-speed and simple trajectories. This paper presents an experimental investigation of the dynamic performance of an industrial high-speed 4-DOF 5R parallel robot designed for pick-and-place applications on moving objects. The inverse dynamics control in the task space is used as a control algorithm. The results show the contribution of all the components of the control algorithm to the motor torque, and the inverse dynamics controller performances are discussed also in comparison to those achievable with simpler PD or PID controllers in a joint space. Moreover, the paper shows the controller synthesis from a modern mechatronic point of view, and the effectiveness of the proposed solution for the tracking of complex high-speed trajectories in an industrial application.

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A Novel Model-Based Robust Super-Twisting Sliding Mode Control of PKMs: Design and Real-Time Experiments

Cited by 6 publications

References 25 publications

A Systematic Trajectory Tracking Framework for Robot Manipulators: An Observer-Based Nonsmooth Control Approach

A Systematic Trajectory Tracking Framework for Robot Manipulators: An Observer-Based Nonsmooth Control Approach

FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs

An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control

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