Adaptive Sliding Mode Control Design of a SCARA Robot Manipulator System Under Parametric Variations

Adelhedi, F.; Jribi, Amina; Bouteraa, Yassine; Derbel, Nabil

doi:10.25103/jestr.085.16

Cited by 12 publications

(6 citation statements)

References 7 publications

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“…A 5-DOF SCARA redundant manipulator model was tested using fuzzy nonlinear controllers [8]. An adaptive trajectory tracking algorithm was investigated using a sliding mode control (SMC) to subject disturbances and parametric uncertainties [9]. Mamdani-based fuzzy controller was established based on the Lagrange Euler dynamic model [10].…”

Section: Literature Reviewmentioning

confidence: 99%

Artificially-intelligent robotic space manipulator using fuzzily-architected nonlinear controllers

2022

IJATEE

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To meet the COVID-19 challenges, the fifth digital industrial wave demands an artificially-intelligent control system advances in selective compliance assembly robot arm (SCARA). Since SCARA has an inherently nonlinear dynamic system and friction rejection, this work develops an artificial intelligent (AI) fuzzy-based nonlinear control algorithm (impedance strategy). Consequently, a generalized dynamic five degree of freedom SCARA (5-Dof SCARA) has mathematically been modelled. These nonlinear controllers have been realized as AI-based fuzzy architectures for the position part from the impedance controller; fuzzy logic proportional derivative (PD) control-type one and Fuzzy logic proportional derivative integral (PID) control type two. These AI architectures regulate the position tracking error of the end effectors' forces. That has been tested using procedures based on half-elliptic and full-elliptic trajectories. Comparatively, the test results are tabulated with related existing published results. Both AI-based controllers have been efficiently dealt with robot nonlinear models and friction rejection. However, the proposed Fuzzy logic PD type one controller has been produced a less-optimum response with the inherent system nonlinearities. Thus, an AI fuzzy-based control algorithm has to be optimally developed to resolve the SCARA sluggishness in achieving tasks. Consequently, a fuzzy logic control (FLC) algorithm of a three-dimension membership function (fuzzy type-2) has been designed to improve the position response of the SCARA redundant robot end-effectors; Fuzzy logic PID type two-controller. The third dimension is dedicated to overcoming uncertain limits in the nonlinear system that leads to a more stable response in the robot end-effector with no oscillation and zero error. The test results of the AI fuzzy-based PID nonlinearcontroller has been successfully manifested the superiority in performance to be properly updated in the space shuttle remote manipulator system. Where the large enchantment in position trajectory reached by FLC type-1 PD controller is 93.166% and 25% in X and Y axis respectively, and the large enhancement by the FLC type-2 PID controller is 95.501% and 31.250% in X and Y-axis respectively.

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Section: Literature Reviewmentioning

confidence: 99%

Artificially-intelligent robotic space manipulator using fuzzily-architected nonlinear controllers

2022

IJATEE

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“…These cause the measurement of system to be tedious and designing a control law to be of more difficulty. Convergence of the system state to the requested state will require a high-level control law (Adelhedi, Jribi, Bouteraa, & Derbel, 2015). An idealized controller may be implemented to achieve good performance when the dynamics of the system is perfectly known.…”

Section: Chapter 2: Literature Reviewmentioning

confidence: 99%

“…Adelhedi et al in (Adelhedi, Jribi, Bouteraa, & Derbel, 2015) for the control of SCARA robot with 3 DOF. Owing to the quality of adaptive systems to deal with parameter uncertainties, the authors have assumed the mass of third link to be unknown.…”

Section: Control Of Scara Robotmentioning

confidence: 99%

Adaptive PD Sliding Mode Control For 4 DOF SCARA Variant

Tummalapalli¹

2021

Preprint

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This project proposes a new SCARA variant with 4 degree of freedom. The proposed variant is achieved by swapping joint 2 and joint 3 of the standard SCARA robots. An adaptive controller is defined based on the advantages and disadvantages of PD, and SMC controllers.The purpose of the project is to understand the dynamics of the variant and to track the performance for trajectories. Simulations for tracking performance are carried under linear and circular trajectories. The variant is studied over the three controllers; PD, PD-SMC and A-PD-SMC. The variant under the adaptive controller is most efficient in terms of tracking performance and the control inputs to the system. The system is simulated under high speed and with the influence of friction at the joints. The control gains are held constant for both the trajectories and hence the controller is able to perform good under changing trajectories. Due to the use of the adaptive law, the system is at the ease of implementation and since no priori knowledge if the system is needed, it is model free. Therefore, the proposed adaptive PD-SMC has proven to provide good, robust trajectory tracking.

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“…Another adaptive SMC was used for a SCARA industrial robot which revealed more accurate position tracking performance and better robustness in dealing with the model uncertainties than the classic SMC. 158 A planar 2-DOF robot was controlled by a novel adaptive SMC scheme which showed its effectiveness for the system trajectory tracking. 159,160 And also a constrained 2-DOF robot was controlled by an adaptive SMC technique in ref.…”

Section: Sliding Mode Controllersmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

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Adaptive Sliding Mode Control Design of a SCARA Robot Manipulator System Under Parametric Variations

Cited by 12 publications

References 7 publications

Artificially-intelligent robotic space manipulator using fuzzily-architected nonlinear controllers

Artificially-intelligent robotic space manipulator using fuzzily-architected nonlinear controllers

Adaptive PD Sliding Mode Control For 4 DOF SCARA Variant

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

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