Sliding mode control design for stabilization of underactuated mechanical systems

Idrees, Muhammad; Ullah, Saif; Muhammad, Shah

doi:10.1177/1687814019842712

Cited by 10 publications

(8 citation statements)

References 39 publications

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“…The robot follows the input trajectory thanks to the spring with a maximal error of around 2 cm. This seems big, but this issue can be solved by using adequate controllers, like sliding modes [36].…”

Section: B Robot Dynamic Behavior In a Pick-and-place Operationmentioning

confidence: 99%

R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations

Jeanneau

Begoc

Briot

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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This paper introduces an intrinsically safe parallel manipulator dedicated to fast pick-and-place operations, called R-Min. It has been designed to reduce the risk of injury during a collision with a human operator, while maintaining high speed and acceleration. The proposed architecture is based on a modification of the well-known planar five-bar mechanism, where additional passive joints are introduced to the distal links in order to create a planar seven-bar mechanism with two degrees of underactuation, so that it can passively reconfigure in case of collision. A supplementary passive leg, in which a tension spring is mounted, is added between the base and the end-effector in order to constrain the additional degrees of freedom.A prototype of this new collaborative parallel robot is designed and its equilibrium configurations under several types of loadings are analyzed. Its dynamics is also studied. We analyze the impact force occurring during a collision between our prototype and the head of an operator and compare these results with those that would have been obtained with a rigid five-bar mechanism. Simulation results of impact during a standard pick-and-place trajectory of duration 0.3 s show that a regular five-bar mechanism would injure a human, while our robot would avoid the trauma.

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Section: B Robot Dynamic Behavior In a Pick-and-place Operationmentioning

confidence: 99%

R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations

Jeanneau

Begoc

Briot

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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“…The results obtained are following the switching control equation in CSMC and SMC with gain-scheduled. The switching control CSMC in (16). showed that the gain is constant (20).…”

Section: Resultsmentioning

confidence: 99%

“…Chattering phenomena is minimized by changing the sign to sat [14]. [16]. Stage one, designing a sliding surface; stage two, designing the switching control which serves to find the sliding surface; stage three, designing equivalent control functions to maintain control to always move on the sliding surface.…”

Section: Conventional Sliding Mode Controlmentioning

confidence: 99%

Sliding Mode Control with Gain Scheduled for Magnetic Levitation System

Uswarman

Istiqphara

Nugroho

2019

Jurnal Ilmiah Teknik Elektro Komputer Dan Informatika

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This paper presents a study of controlling magnetic levitation object using conventional sliding mode control (CSMC) and sliding mode control (SMC) with gain-scheduled. SMC with gain-scheduled aims to improve the robustness of the control system from disturbance. The CSMC simulation results show that output can follow the set point if there is no interference, but if the disturbance happens then there is overshoot and undershoot of 0.034 mm and 0.07 mm for disturbance 10 * sin( ) and 20 * sin( ). Then SMC with gain-scheduled shows excellent performance because the output can follow the reference even if it got disturbance of 10 * sin( ) and 20 * sin( ).

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“…MATLAB/SIMULINK was used to simulate the model. An SMC that is hierarchical and that is state-dependent switching gain based is proposed in [17] for under actuated mechanical systems stabilization. 1st-level and 2nd-level sliding surfaces are the basis of the controller.…”

Section: Literature Reviewmentioning

confidence: 99%

“…where e = x d − x path error, x is the system path, x d is the reference path, γ is strictly non-negative, and n is the order the system. Then, n=2 for 2nd -order system, hence, the sliding surface is s = ė+ γe (17) which implies ṡ= ë+ γė (18) From equation (12) ṡ=…”

Section: Smc For Ball-on-sphere Systemmentioning

confidence: 99%

Stabilization of Ball-On-Sphere System with Super Twisting (ST) Sliding Mode Control (SMC) as a Method of Chattering Reduction

Mohammed¹,

Hussein²,

Koyunlu³

2020

IJEM

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A SMC for the ball-on-sphere system was designed in this work. The mathematical system's model was first derived and a SMC was designed. Then, Lyapunov's method was used to test for the convergence on the sliding surface, and convergence of the system's states to the sliding surface was guaranteed. To reduce chattering, a super twisting SMC was designed. A controller that is linear was first given to the system and the simulation results showed that, while there is disturbance, achieving origin's asymptotic stability is not viable. A SMC was then applied next, while there is disturbance, origin's asymptotic stability was attained in finite-time. Then a 2nd order SMC was applied and the results showed faster origin's asymptotic stability in finite time. Therefore, the real effect of applying a 2nd order SMC is faster asymptotic stability of the origin. To reduce chattering, a ST SMC was applied and the chattering was observed to be reduced efficiently.

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Sliding mode control design for stabilization of underactuated mechanical systems

Cited by 10 publications

References 39 publications

R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations

R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations

Sliding Mode Control with Gain Scheduled for Magnetic Levitation System

Stabilization of Ball-On-Sphere System with Super Twisting (ST) Sliding Mode Control (SMC) as a Method of Chattering Reduction

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