Robust Sliding Mode Control for Flexible Joint Robotic Manipulator via Disturbance Observer

Alam, Waqar; Ahmad, Sayyar; Mehmood, Adeel; Iqbal, Jamshed

doi:10.7906/indecs.17.1.11

Cited by 17 publications

(15 citation statements)

References 20 publications

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“…According to the Lyapunov theory, for the stable operation of the system,V(x, t) shall be less than 0 at any time after t = 0. By differentiating Equation ( 21), we obtain the following:V (x, t) = ςς (22) Substituting the value ofς from (13) into Equation ( 22) results in the following:…”

Section: Existence Of the Smmentioning

confidence: 99%

“…Power inverters are inherently compatible with the SMC technique, due to their discrete switching nature and being a variable structure system [19,20]. SMC has some unique features, such as robustness, order reduction, stability and precise regulation [21,22]. Moreover, the average model of the power converter is not essential for SMC [23,24].…”

Section: Introductionmentioning

confidence: 99%

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Robust Sliding Mode Control of a Unipolar Power Inverter

et al. 2021

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The key issue in the practical implementation of the sliding mode (SM) control–based power inverter is the variable switching frequency. This variable switching frequency not only induces electromagnetic interference (EMI) noise, but also reduces the efficiency of the inverter, as the size of the inductor and capacitor does not alter in tandem with this variable frequency. In this context, fixed switching frequency–based SM control techniques are proposed; however, some of them are too complex, while others compromise the inherent properties of SM control. In this research, a fixed frequency SM controller is proposed, which is based on the novel low-pass filter extraction of the discontinuous control signal. This allows the technique to be implemented with fewer hardware components, thus reducing the complications of implementation, while maintaining the robustness and parametric invariance of SM control. A simulation-based comparison with an existing pulse width modulated (PWM) SM controller is presented as the benchmark. In comparison with the sigmoid function SM controller, an improvement of 50% in the settling time along with zero steady-state errors and a further 37% and 42% improvement in the undershoot and overshoot, respectively, is reported in the simulation. A hardware setup is established to validate the proposed technique, which substantiates the simulation results and its disturbance rejection properties.

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Section: Existence Of the Smmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Sliding Mode Control of a Unipolar Power Inverter

et al. 2021

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“…In contrast, robotic systems with flexible links and/or joints offer lightweight, reduced inertia, low manufacturing cost and permit faster movements [227], [228]. The applications of these flexible robotic manipulators [229], [230], which are made up of lightweight carbon fiber, stainless steel or light Aluminum, need to be explored in the renewable energy sector.…”

Section: Challenges and Opportunities Of Robotics In Renewable Energy Sectormentioning

confidence: 99%

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

et al. 2019

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The domain of Robotics is a good partner of renewable energy and is becoming critical to the sustainability and survival of the energy industry. The multi-disciplinary nature of robots offers precision, repeatability, reliability, productivity and intelligence, thus rendering their services in diversified tasks ranging from manufacturing, assembling, and installation to inspection and maintenance of renewable resources. This paper explores applications of real robots in four feasible renewable energy domains; solar, wind, hydro, and biological setups. In each case, existing state-of-the-art innovative robotic systems are investigated that have the potential to create a difference in the corresponding renewable sector in terms of reduced set-up time, lesser cost, improved quality, enhanced productivity and exceptional competitiveness in the global market. Instrumental opportunities and challenges of robot deployment in the renewable sector are also discussed with a brief case study of Saudi Arabia. It is expected that the wider dissemination of the instrumental role of robotics in renewable energy will contribute to further developments and stimulate more collaborations and partnerships between professionals of robotics and energy communities.INDEX TERMS Applied robotics, automation in renewable energy, mobile robots, robotic manipulators, solar PV module, wind turbines.

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“…(Kearney and Moss, 1993 ; Ellis et al, 1997 ; Boury et al, 2008 ; Carney et al, 2020 ). And the actual deviating rules between axial and radial direction of pivoting center for precision swing is also an important basis for overall design and decision-making (Alam et al, 2019 ; Cui and Wu, 2019 ), therefore, it is very important to accurately measure the pivoting center data of flight body of precision swing to ensure the precision of thrust vector control of aircraft. During swinging (Liu et al, 2019 ), the flexible joint of flying body should move along the smooth curve, but because of the error of positioning, the research on the swing center recognition technology of flexible joint of flying body belongs to the state secret, so there are few published literatures.…”

Section: Introductionmentioning

confidence: 99%

Research on Intelligent Identification of Pivoting Center and Smooth Processing of Test Data for Flying Flexible Joint

Wen

Tan

2021

Front. Neurorobot.

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In this paper, a method of intelligent identification and data smooth processing of flying flexible joint pivoting center based on machine vision is proposed. The intelligent identification is realized by the following process: first of all the geometric center of the two markers attached to the flying body is located on a straight line at a certain angle to the center-line of the measured pivoting body, secondly then continuous image sampling is carried out by industrial camera when the marker swings with the pivoting body, and image data is transmitted through a data interface to an industrial computer, Finally the image processing module de-noises the image, removes the background and locates the markers to obtain the plane coordinates of the markers in the coordinate system of the test system. The data smooth of obtained coordinates is carried outby Matlab software including the following steps: the coordinates of the mark points detected based on machine vision are optimized to obtain the smooth curve by fitting of the parabola and arc. Then the coordinates of the points on the curve are used to optimize the coordinates of the marked points from measurement. The optimized coordinate values are substituted into the calculation module of pivoting center, so the average pivoting center of the sampling interval of two images is calculated according to the mathematical model to approach the instantaneous pivoting center during the motion of the pivoting body. The result processing module displays and records the curve of pivoting center shift directly and effectively. Finally, it is validated by simulation and experiments that the precision of pivoting center measured by such measuring system is ~0.5%.

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Robust Sliding Mode Control for Flexible Joint Robotic Manipulator via Disturbance Observer

Cited by 17 publications

References 20 publications

Robust Sliding Mode Control of a Unipolar Power Inverter

Robust Sliding Mode Control of a Unipolar Power Inverter

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

Research on Intelligent Identification of Pivoting Center and Smooth Processing of Test Data for Flying Flexible Joint

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