Hostname: page-component-586b7cd67f-gb8f7 Total loading time: 0 Render date: 2024-11-22T20:49:41.019Z Has data issue: false hasContentIssue false
  • English
  • Français

Efficient Sliding Mode Control for Robot Manipulator with Prescribed Tracking Performance

Published online by Cambridge University Press:  09 March 2009

Ju-Jang Lee ,
Jung-Hoon Lee  and
Jong-Soo Lee
Ju-Jang Lee
Affiliation:
Dept. of Electrical Engineering, Korea Advanced Institute of Science & Technology, 373–1 Kusong-Dong, Yusong-yu, TAEJON 305–701 (Korea).
Jung-Hoon Lee
Affiliation:
Dept. of Electrical Engineering, Korea Advanced Institute of Science & Technology, 373–1 Kusong-Dong, Yusong-yu, TAEJON 305–701 (Korea).
Jong-Soo Lee
Affiliation:
Dept. of Electrical and Control Engineering, Hong Ik University, Sangsu-dong, Mapo-ku, Seoul, 121–791 (Korea).
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, we discuss the accurate and robust sliding mode tracking control for highly nonlinear robot manipulators using a disturbance observer. Due to the modeling error or environmental uncertainties, sliding mode control may present a significant chattering problem by using a conventional Sliding Mode Control (SMC) which can obtain the desired tracking performance, because the controller design is carried in the uncertainty space of the system parameters.

To solve this chattering problem, the efficient compensation of the disturbance observer has been introduced. Thus the design of the proposed SMC is not influenced by the modeling error or parameter uncertainties.

To ensure bounded stability, the proposed sliding mode controls have been analysed in a preliminary lemma and two main theorems. The stability of the proposed control method is proved in this paper, and the efficiency of the control algorithms has been demonstrated by simulations for a position tracking control of a two-link robot subject to parameter and payload uncertainties.

Keywords

Sliding mode controlRobot tracking controlDisturbance observer
Type
Research Article
Information
Robotica , Volume 10 , Issue 6 , November 1992 , pp. 521 - 530
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Fu, K.S., Gonzalez, R.C. and Lee, C.S.G., Robotics: Control, Sensing Vision, Intelligence (McGraw–Hill, New York, 1987).Google Scholar
2.Brady, M. et al. , Robot Motion: Planning and Control (The MIT Press, Masachusetts, 1982).Google Scholar
3.Sahba, M. and Mayne, D.Q., “Computer-Aided Design of Nonlinear Controller for Torque Controlled Robot Arms” IEE Proc. D 131, 8–14 (01 1984).CrossRefGoogle Scholar
4.Tourasis, V.D. and Neuman, C.P., “Robust Nonlinear Feedback Controller Robotic Manipulators” IEE Proc. D 132, 134–143 (07, 1985).CrossRefGoogle Scholar
5.Egeland, O., “On the Robustness of Computed Torque Method in Manipulator Control” Proc. IEEE Int. Conf. on Robotics and Automation 1203–1208 (1986).Google Scholar
6.Kovio, A.J. and Huo, T.H., “Adaptive Linear Controller for Robotic Manipulators” IEEE Trans. on Automat. Cont. AC–28, No. 2, 162–171 (1983).CrossRefGoogle Scholar
7.Craig, J.J., Adaptive Control of Mechanical Manipulators (Ph.D. thesis, Stanford University, Department of Electrical Engineering, 1986).Google Scholar
8.Young, K.K.D., “Controller Design for a Manipulator Using Theory of Variable Structure Systems” IEEE Trans. on Systems, Man, and Cybernetics SMC–8, No. 2, 101–109 (02, 1978).Google Scholar
9.Slotine, J.J. and Sastry, S.S., “Tracking Control of Nonlinear Systems Using Sliding Surface, with Application to Robot Manipulators” Int. J. Control 38, No. 2, 465–492 (1983).CrossRefGoogle Scholar
10.Morgan, R.G. and Ozguner, U., “A Decentralized Variable Structure Control Algorithm for Robotic Manipulators” IEEE J. of Robotics and Automation RA–1, No. 1, 57–65 (03, 1985).CrossRefGoogle Scholar
11.Hashimoto, H., Maruyama, K. and Harashima, F., “A Mircoprocessor-Based Robot Manipulator Control with Sliding Mode” IEEE Trans. on Indust. Electr. IE–34, No. 1, 11–18 (02, 1987).CrossRefGoogle Scholar
12.Young, K.K.D., “A Variable Structure Model Following Control Design for Robotics Applications” IEEE J. of Robotics and Automation RA–4, No. 5, 556–561 (1988).CrossRefGoogle Scholar
13.Xu, J.X., Hashimoto, H., Slotine, J.J., Arai, Y. and Harashima, F., “Implementation of VSS Control to Robotic Manipulators-Smoothing Modifications” IEEE Trans. on Indust. Electr. IE–36, No. 3, 321–329 (08 1989).CrossRefGoogle Scholar
14.Bellini, A., Figall, G., Pinello, P. and Vanniulivi, G., “Realization of a Control Device for a Robotic Manipulator Based on Nonlinear Decoupling and Sliding Mode Control” IEEE Trans. on Industry Applicat. IA–25, No. 5, 790–799 (09/10, 1989).CrossRefGoogle Scholar
15.Young, K.S. and Chen, Y.P., “Sliding-Mode Controller Design of a Single-link Flexible Manipulator Under Gravity” Int. J. Contr. 52, No. 1, 101–117 (1990).CrossRefGoogle Scholar
16.Singh, S., “Decentralized Variable Structure Control for Tracking in Non-linear Systems” Int. J. Contr. 52, No. 4, 811–831 (1990).CrossRefGoogle Scholar
17.Wijesoma, S.W. and Richards, R.J., “Robust Trajectory Following of Robots Using Computed Torque Structure with VSS” Int. J. Contr. 52, No. 4, 935–962 (1990).CrossRefGoogle Scholar
18.Chen, Y.F., Mita, T. and Wakui, S., “A New and Simple Algorithm for Sliding Mode Trajectory Control of the Robot Arm” IEEE Trans. on Automat. Contr. AC–33, No. 7, 828–829 (07, 1990).CrossRefGoogle Scholar
19.Komada, S. and Ohnishi, K., “Force Feedback Control of Robot Manipulator by the Acceleration Tracking Orientation Method” IEEE Trans. on Indust. Electr. IE–37, No. 1, 6–12 (1990).CrossRefGoogle Scholar
20.Abdallah, C., Dawson, D., Dorato, P. and Jamshidi, M., “Survey of Robust Control for Rigid Robots” IEEE Control System Magazine 11, No. 2, 24–30 (02, 1991).Google Scholar
21.Lee, J.S. and Kwon, W.H., “A Hybrid Control Algorithm for Robotic Manipulators” Robotica (In print).Google Scholar
22.Dawson, D. M., Qu, Z., Lewis, F.L. and Dorsey, J.F., “Robust Control for the Tracking of Robust Motion” Int. J. Contr. 52, No. 3, 581–595 (1990).CrossRefGoogle Scholar
23.Oh, S.R., Bien, Z.N. and Suh, I.H., “A Model Algorithmic Learning Method for Continuous–path Control of a Robot Manipulator” Robotica 8, Part 1, 31–36 (1990).CrossRefGoogle Scholar
24.Yoo, D.S., Chung, M.J. and Bien, Z.N., “Real–time Implementation and Evaluation of Dynamic Control Algorithms for Industrial Manipulators” IEEE Trans. on Indust. Electr. IE–38, No. 1, 26–31 (1991).Google Scholar
25.Desor, C.A. and Vidyasagar, M., Feedback Systems: Input–output Properties (Academic Press, New York, 1975).Google Scholar
26.Utkin, V.I., Sliding Modes and Their Application in Variable Structure Systems (Mir Publications, Moscow, 1978).Google Scholar
27.Itkis, U., Control Systems of Variable Structure (John Wiley & Sons, New York, 1976).Google Scholar