A Supervisory Sliding Mode Control Approach for Cooperative Robotic System of Systems

Abstract

Abstract-This paper deals with the formulation of a supervisory sliding mode control approach oriented to deal with the interesting class of Systems of Systems (SoS) of robotic nature. This class of systems is characterized by the fact of being inherently distributed, cooperative and possibly heterogeneous. In this paper, we propose a modular and composable approach relying on basic modules featuring a multi-level functional architecture, including a supervisor and a couple of hybrid position/force control schemes associated with a couple of cooperative robotic manipulators. In principle, the overall robotic system we are referring to can be viewed as a collection of basic modules of that type. In the present paper, we focus on the design of the basic module. The hybrid position/force control schemes therein included are based on position and force controllers. The proposed position and force controllers are of Sliding Mode (SM) type, so as to assure suitable robustness to perform a satisfactory trajectory tracking even in presence of unavoidable modelling uncertainties and external disturbances. The verification and the validation of our proposal have been performed by simulating the supervisor and the hybrid control scheme applied to one of the two robotic manipulators, while experimentally testing the position control on the other arm. The experimental part of the tests has been carried out on a COMAU SMART3-S2 anthropomorphic industrial robotic manipulator.

Real-Time HIL Implementation of Sliding Mode Control for Standalone System Based on PV Array Without Using Dumpload

“…Therefore, to verify the stability condition given in (20), the sign of each term in (22) should be verified independently. The product sign of each term will define the overall sign of (22).…”

“…The obtained results shown in Table I prove that the sign product of the first and the second terms is negative. Therefore, to verify the condition given in (20), the sign of the third term of (22) should be positive.…”

“…Therefore, extra solutions such as nonsingular TSMC (NTSMC) [16] and uncertainty estimator [17] are required. These methods and their extra solutions have been suggested for specific applications such as mobile robot [18]- [20] or an aircraft control as well electric vehicle control [21], [22]. But for applications, such as control of PV array [23] or control of electrical machines [24], when the chattering is not an issue, SMC is more suitable because it is less complicated and easy to implement in real time.…”

Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics

“…Currently, sliding mode control (SMC) or adaptive SMC (ASMC) is among the uncertain kinematics/dynamics attenuation techniques proposed in the literature for trajectory tracking control of robotic manipulators [12][13][14][15][16]. That is because SMC can ensure good performance of the controlled system in the presence of a significant class of uncertainties.…”

Second order sliding mode control for nonlinear affine systems with quantized uncertainty

“…Because of the continuous nature of the control action, HOSM control approaches are appropriate to be applied even to electrical, electromechanical or mechanical systems [11,12], as testified by [13][14][15][16][17][18][19][20].…”