Sliding mode control-based system for the  two-link robot arm

Nguyen, Trong-Thang

doi:10.11591/ijece.v9i4.pp2771-2778

Cited by 8 publications

(8 citation statements)

References 14 publications

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“…In order for this convergence towards the sliding surfaces from any initial state to be in finite time, the condition ( 16) is replaced by the following condition, as in [16,17]:…”

Section: Condition Of Sliding Mode Existencementioning

confidence: 99%

Optimization of the Performances of a Two-Joint Robotic Arm using Sliding Mode Control

Bendimrad

AMRANI

2022

Int. J. Automot. Mech. Eng.

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In this paper, we worked on the control of the angular position of a two-joint robotic arm by the sliding mode technique, after having establishing the dynamic equations of the system by the Lagrange method, with the purpose of improving the performances of the system by acting on certain parameters related to the sliding mode technique. The simulation results show an optimization of the sliding mode controller parameters, generally, in the response of the controlled system, which consists on minimizing error and settling time, and eliminating the unwanted phenomenon of chattering, after finding the optimal values of these parameters. Verification by simulation of the robustness of the optimized robotic arm shows that its response is independent of the dimensions and masses of the bodies of this robotic arm, as well as of the applied load. this answer always corresponds to the best performances of speed, settling time and margin of error. the only quantity that varies according to the parameters of the robotic arm and the applied load is the torque required. This couple has a compensating effect to the change of these internal parameters and of this applied load, to keep the same optimal response on the condition of communicating these changes with the controller.

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“…In order for this convergence towards the sliding surfaces from any initial state to be in finite time, the condition ( 16) is replaced by the following condition, as in [16,17]:…”

Section: Condition Of Sliding Mode Existencementioning

confidence: 99%

Optimization of the Performances of a Two-Joint Robotic Arm using Sliding Mode Control

Bendimrad

AMRANI

2022

Int. J. Automot. Mech. Eng.

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“…Specifically, in some studies [ 23 , 24 ], linear control proposals were presented and allow generating trajectories but with limitations in movements and speed. In other studies [ 25 , 26 ], the authors proposed slide mode control for robot path tracking, first for a quadrocopter and then for controlling the torque in each joint of the robot in order that the angle coordinates of each link coincide with the desired values. In [ 19 ], a Backstepping control proposal is presented for a robotic arm with satisfactory results in trajectory tracking obtained in simulation.…”

Section: Introductionmentioning

confidence: 99%

Non Linear Control System for Humanoid Robot to Perform Body Language Movements

Gomez-Quispe

Pérez-Zúñiga

Arce

et al. 2023

Sensors

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In social robotics, especially with regard to direct interactions between robots and humans, the robotic movements of the body, arms and head must make an adequate displacement to guarantee an adequate interaction, both from a functional and social point of view. To achieve this, the use of closed-loop control techniques that consider the complex nonlinear dynamics and disturbances inherent in these systems is required. In this paper, an implementation of a nonlinear controller for the tracking of trajectories and a profile of speeds that execute the movements of the arms and head of a humanoid robot based on the mathematical model is proposed. First, the design and implementation of the arms and head are initially presented, then the mathematical model via kinematic and dynamic analysis was performed. With the above, the design of nonlinear controllers such as nonlinear proportional derivative control with gravity compensation, Backstepping control, Sliding Mode control and the application of each of them to the robotic system are presented. A comparative analysis based on a frequency analysis, the efficiency in polynomial trajectories and the implementation requirements allowed selecting the non-linear Backstepping control technique to be implemented. Then, for the implementation, a centralized control architecture is considered, which uses a central microcontroller in the external loop and an internal microcontroller (as internal loop) for each of the actuators. With the above, the selected controller was validated through experiments performed in real time on the implemented humanoid robot, demonstrating proper path tracking of established trajectories for performing body language movements.

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“…This has led to much research into developing high-performance control approaches using state-of-the-art control theories [1]. For instance, proportional integral derivative (PID) controller [2]- [4], sliding mode control [5], fractional-order sliding mode controller [6], adaptive sliding mode control [7], fuzzy sliding mode control [8] have been dedicated to the study of flexible-joint robots. An integral sliding mode controller (ISMC) tracks a flexible joint manipulator driven by a direct current (DC) motor.…”

Section: Introductionmentioning

confidence: 99%

Optimal integral sliding mode controller controller design for 2-RLFJ manipulator based on hybrid optimization algorithm

Yahya

Abbas

2022

IJECE

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A newly hybrid nature-inspired algorithm called HSSGWOA is presented with the combination of the salp swarm algorithm (SSA) and grey wolf optimizer (GWO). The major idea is to combine the salp swarm algorithm's exploitation ability with the grey wolf optimizer's exploration ability to generate both variants' strength. The proposed algorithm uses to tune the parameters of the integral sliding mode controller (ISMC) that design to improve the dynamic performance of the two-link flexible joint manipulator. The efficiency and the capability of the proposed hybrid algorithm are evaluated based on the selected test functions. It is clear that when compared to other algorithms like SSA, GWO, differential evolution (DE), gravitational search algorithm (GSA), particles swarm optimization (PSO), and whale optimization algorithm (WOA). The ISMC parameters were tuned using the SSA, which was then compared to the HSSGWOA algorithm. The simulation results show the capabilities of the proposed algorithm, which gives an enhancement percentage of 57.46% compared to the standard algorithm for one of the links, and 55.86% for the other.

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Sliding mode control-based system for the two-link robot arm

Cited by 8 publications

References 14 publications

Optimization of the Performances of a Two-Joint Robotic Arm using Sliding Mode Control

Optimization of the Performances of a Two-Joint Robotic Arm using Sliding Mode Control

Non Linear Control System for Humanoid Robot to Perform Body Language Movements

Optimal integral sliding mode controller controller design for 2-RLFJ manipulator based on hybrid optimization algorithm

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