Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators

Capisani, Luca Massimiliano; Ferrara, Antonella; Magnani, Lorenzo

doi:10.1080/00207170802112591

Cited by 67 publications

(48 citation statements)

References 33 publications

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“…Because of the continuous nature of the control action, the HOSM control approach is appropriate to be applied even to electromechanical or mechanical systems [16], [17], as testified by [18], [19], [20]. Yet, as highlighted in [11], some problems remain during the transient phase, i.e.…”

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confidence: 99%

“…In this paper, inspired by [21], we propose a modification of the control algorithm considered in [18], which belongs to the class of the so-called Suboptimal Second Order Sliding Mode algorithms (see [9], [11]), which gives rise to a new version of the algorithm, herein named Integral Suboptimal Second Order Sliding Mode algorithm. The proposed algorithm maintains the good properties of the original Suboptimal Second Order Sliding Mode approach, in terms of chattering alleviation, but also assigns a transient dynamics to the controlled system, so that the reaching phase occurs with a prescribed transient time.…”

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confidence: 99%

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Robust motion control of a robot manipulator via Integral Suboptimal Second Order Sliding Modes

Ferrara

Incremona

2013

52nd IEEE Conference on Decision and Control

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Abstract-This paper deals with the formulation of an Integral Suboptimal Second Order Sliding Mode control algorithm oriented to solve motion control problems for robot manipulators, taking into account the presence of unavoidable modelling uncertainties and external disturbances affecting the systems. The proposed algorithm is designed so that the socalled reaching phase, normally present in the evolution of a system controlled via a Sliding Mode controller, is reduced to a minimum. Moreover, since the relative degree of the relevant system output is suitably augmented through the use of an integrator, the control action affecting the robotic system is continuous, with a significant benefit, in terms of chattering alleviation, for the overall controlled electromechanical system. The verification and validation of our proposal have been performed by simulating the motion control scheme relying on a model of the considered robot, i.e. a COMAU SMART3-S2 anthropomorphic industrial robot manipulator, identified on the basis of real data.

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confidence: 99%

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Robust motion control of a robot manipulator via Integral Suboptimal Second Order Sliding Modes

Ferrara

Incremona

2013

52nd IEEE Conference on Decision and Control

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“…In addition, the second derivative of position angle is required as a part of controller inputs. Capisani et al, (Capisani et al, 2009) presented an inverse dynamic-based second-order sliding mode controller to perform motion control of robot manipulators, but this method involves the higher order derivatives of the state variables. In this section, the motion tracking control of multiple-link robot manipulators actuated by permanent magnet DC motors is addressed.…”

Section: Sliding Mode Control Using Neural Network Approachmentioning

confidence: 99%

Sliding Mode Control of Robot Manipulators via Intelligent Approaches

Shafiei¹

2010

Advanced Strategies for Robot Manipulators

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“…This choice has been suggested by the satisfactory performance illustrated in [11], even if in the different case of motion control of a single robot. Moreover, in the cooperative case, the effect of modelling uncertainties and external disturbances can be even more critical than in the conventional case, which makes the adoption of a robust control approach mandatory.…”

Section: Introductionmentioning

confidence: 99%

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

Incremona

Felici

Ferrara

et al. 2015

IEEE Systems Journal

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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.

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Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators

Cited by 67 publications

References 33 publications

Robust motion control of a robot manipulator via Integral Suboptimal Second Order Sliding Modes

Robust motion control of a robot manipulator via Integral Suboptimal Second Order Sliding Modes

Sliding Mode Control of Robot Manipulators via Intelligent Approaches

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

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