A Comparative Experimental Study of Robust Sliding Mode Control Strategies for Underactuated Systems

Din, Sami ud; Khan, Qudrat; Rehman, Fazal ur; Akmeliawanti, Rini

doi:10.1109/access.2017.2712261

Cited by 40 publications

(22 citation statements)

References 32 publications

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“…Therefore, from the perspective of precision and robustness, the strategies based on sliding mode control have gained considerable attention from the research community of control systems [5][6][7][8][9][10][11]. SMC can be conveniently employed due to its simplicity.…”

Section: Introductionmentioning

confidence: 99%

“…However, in the sliding phase, the systems state trajectory is bound to slide on the sliding surface by the use of an appropriate control signal. During the sliding phase, the closed-loop system's response depends upon the surface parameter and remains insensitive to variations of system parameters and external disturbances [9][10]. Contrarily during the reaching phase, the system is susceptible towards minimal disturbances, even of matched nature, resulting in deterioration in performance.…”

Section: Introductionmentioning

confidence: 99%

“…Contrarily during the reaching phase, the system is susceptible towards minimal disturbances, even of matched nature, resulting in deterioration in performance. Therefore, the robustness cannot be guaranteed throughout the system response [10]. Furthermore, SMC has the main obstacle in its practical application due to high-frequency oscillations (known as chattering, generated due to discontinuous control law).…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, SMC has the main obstacle in its practical application due to high-frequency oscillations (known as chattering, generated due to discontinuous control law). Chattering is undesirable for electro-mechanical systems because it invokes high-frequency dynamics, which leads to system instability [10][11]. Various methodologies have been proposed in the literature to explain how to overcome undesirable chattering phenomenon which includes; a) use of Higher-Order Sliding Mode Control (HOSMC) [10], b) observer-based approach, and c) use of saturation function instead of signum function (as discontinues control) [10][11].…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Smooth Super-Twisting Sliding Mode Control of Nonlinear Systems With Unmatched Uncertainty

et al. 2020

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This article presents a novel strategy regarding the stabilization control problem for plants with unmatched uncertainties. The methodology is based on Adaptive Smooth Super Twisting Sliding Mode Control. At first, as an initial step, the plant with unmatched uncertainty is transformed into a plant with matched uncertainty. At the second step, the plant with matched uncertainty is decomposed into a unique framework containing the nominal part and some unknown terms (where these unknown terms are computed adaptively). The nominal system is stabilized by using Smooth Super Twisting Sliding Mode Control. The stabilizing controller for the plant with matched uncertainty is designed in a way; it contains some nominal control plus some compensator term. The stability of the said technique is presented impressively. The compensator controller and the adapted laws are derived in such a way that the time derivative of a Lyapunov function becomes strictly negative. The proposed method is tested on a fourthorder plant. The simulation results show the effectiveness and validity of the proposed controller. INDEX TERMS Sliding mode control, higher-order sliding mode control, adaptive smooth super-twisting algorithm, Lyapunov function, unmatched uncertainty.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive Smooth Super-Twisting Sliding Mode Control of Nonlinear Systems With Unmatched Uncertainty

et al. 2020

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“…Both controllers in [30,31] offer a promising result; however, such control schemes are complicated and sensitive to unmodelled dynamics [26,32], especially for a high degree-of-freedom (DOF) system. As for the reaching phase issue of SMC, integral sliding mode control (ISMC) is introduced to eliminate the reaching phase [33], but ISMC still suffers from high control effort.…”

Section: Introductionmentioning

confidence: 99%

A Comparative Study of LQR and Integral Sliding Mode Control Strategies for Position Tracking Control of Robotic Manipulators

Norsahperi

Danapalasingam

2020

Int. j. electr. comput. eng. syst. (Online)

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This paper provides a systematic comparative study of position tracking control of nonlinear robotic manipulators. The main contribution of this study is a comprehensive numerical simulation assessing position tracking performances and energy consumption of integral sliding mode control (ISMC), a linear-quadratic regulator with integral action (LQRT ), and optimal integral sliding mode control (OISMC) under three conditions; namely, Case I) without the coupling effect, Case II) with the coupling effect on Link 1 only, and Case III) with the coupling effect on Link 2 only. The viability of the concept is evaluated based on three performance criteria, i.e., the step-response characteristics, position tracking error, and energy consumption of the aforementioned controllers. Based upon the simulation study, it has been found that OISMC offers performances almost similar to ISMC with more than 90% improvement of tracking performance under several cases compared to LQRT; however, energy consumption is successfully reduced by 3.6% in comparison to ISMC. Energy consumption of OISMC can be further reduced by applying optimization algorithms in tuning the weighting matrices. This paper can be considered significant as a robotic system with high tracking accuracy and low energy consumption is highly demanded to be implemented in smart factories, especially for autonomous systems.

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Manipulator trajectory tracking based on adaptive sliding mode control

Zhao

Tao

et al. 2022

Concurrency and Computation

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A manipulator is a complex electromechanical system that is nonlinear, strongly coupled, and uncertain. Achieving its precise and high-quality trajectory control is difficult.Sliding mode control (SMC) is one of the common control methods for manipulators.However, discontinuities in SMC can cause jitter and vibration in the manipulator system, leading to a reduction in the performance of the control system. For the self-adaptive capability jitter vibration problem of SMC, the Dobot magician manipulator is treated as the research object in this article. The dynamics equations of the manipulator are established by Lagrange method, and a simplified model of the manipulator dynamics is constructed. The method of self-adaptive sliding mode control is proposed. Self-adaptive parameters are added to the SMC to achieve self-adaptive adjustment of the SMC parameters. In the MATLAB/Simulink simulation environment analysis show that the self-adaptive SMC method has better self-tuning ability and trajectory tracking ability than the traditional SMC, and weakens the jitter phenomenon existing in the traditional SMC.

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A Comparative Experimental Study of Robust Sliding Mode Control Strategies for Underactuated Systems

Cited by 40 publications

References 32 publications

Adaptive Smooth Super-Twisting Sliding Mode Control of Nonlinear Systems With Unmatched Uncertainty

Adaptive Smooth Super-Twisting Sliding Mode Control of Nonlinear Systems With Unmatched Uncertainty

A Comparative Study of LQR and Integral Sliding Mode Control Strategies for Position Tracking Control of Robotic Manipulators

Manipulator trajectory tracking based on adaptive sliding mode control

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