Design of an Integral Suboptimal Second-Order Sliding Mode Controller for the Robust Motion Control of Robot Manipulators

Abstract

Abstract-The formulation of an Integral Suboptimal Second Order Sliding Mode control algorithm, oriented to solve motion control problems for robot manipulators, is presented in this paper. The proposed algorithm is designed so that the socalled reaching phase, normally present in the evolution of a system controlled via the sliding mode approach, is reduced to a minimum. This fact makes the algorithm more suitable to be applied to a real industrial robot, since it enhances its robustness, by extending it also to time intervals during which the classical sliding mode is not enforced. Moreover, since the algorithm generates second order sliding modes, while the model of the controlled electromechanical system has a relative degree equal to one, the control action actually fed into the plant is continuous, which provides a positive chattering alleviation effect. The assessment of the proposal has been carried out by experimentally testing it on a COMAU SMART3-S2 anthropomorphic industrial robot manipulator. The satisfactory experimental results, also compared with those obtained with a standard PD controller and with the original Suboptimal algorithm, confirm that the new algorithm can be actually used in an industrial context.

Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model

“…To deal with the nonlinearity and time variability of robot dynamics, many advanced control strategies have emerged, including adaptive control [4] and [5], sliding mode control [6], intelligent control [7] and [8], etc. Regarding the problem of uncertainty of kinematic and dynamic robot parameters, control schemes that make use of soft computing methods including neural networks [9] to [11] and fuzzy logic [12] have been developed.…”

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

“…Assume also that, for (σ,σ) ∈ L i , g(·) and f (·) satisfy constraints (15). The control parameters α i are chosen so as to satisfy the constraint (16).…”

“…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].…”

Adaptive suboptimal second-order sliding mode control for microgrids

“…Remark 1: Since the Levant's differentiator is used to determine ξ 2 , the extremal values ξ 1max can be evaluated by using, as an alternative with respect to Peak Detection Algorithm, the scheme in Figure 2, as observed in (Ferrara and Incremona, 2015). That is, ξ 1max is stored at the time instants whenξ 2 changes its sign.…”