An efficient control of rigid robotic manipulator with uncertainties using higher order sliding mode control

Bhave, Manjusha; Janardhanan, S.; Dewan, Lillie

doi:10.1504/ijmic.2013.054322

Cited by 14 publications

(2 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For two-link fully actuated robotic manipulator, the finite-time convergence to the sliding surface for the system under consideration has been shown in Agwan et al (2012) and Bhave, Janardhanan, and Dewan (2013), using η reachability condition.…”

Section: Finite-time Convergencementioning

confidence: 97%

A finite-time convergent sliding mode control for rigid underactuated robotic manipulator

Bhave

Janardhanan

Dewan

2014

Systems Science & Control Engineering

Self Cite

View full text Add to dashboard Cite

Robotic manipulators are widely used in space endeavors nowadays. For space applications, usually lightweight robotic manipulators are preferred. Hence, the system can be made underactuated intentionally. Also, one or more actuators may fail in space. Therefore, the system is highly uncertain and less actuated. The sliding mode control strategy does not depend on exact knowledge of the system model but chattering in states and control is observed. The present work showcases two different control techniques for achieving finite-time convergence and continuous control. The first technique is to choose a zero-error sliding function with a higher order sliding mode control and the second technique is to use a terminal sliding function with appropriate higher order sliding mode control for tracking control of an underactuated manipulator. A comparison is presented for the same.

show abstract

Section: Finite-time Convergencementioning

confidence: 97%

A finite-time convergent sliding mode control for rigid underactuated robotic manipulator

Bhave

Janardhanan

Dewan

2014

Systems Science & Control Engineering

Self Cite

View full text Add to dashboard Cite

show abstract

“…The suggested controller consists of two parts; the first part is responsible for keeping the stability of the system, and the second part adapting with the unknown parameters. Bhave et al [25] described the concept of high order sliding mode control was adopted utilizing the tracking error as the sliding surface for trajectory tracking of a two-link planar manipulator and a three-link articulated manipulator. Mallem et al [26] explained a combination of global fast sliding mode control strategy and radial basis function (RBF) algorithm is used to approximate the uncertain nonlinear function controlling a mobile robot.…”

Section: Introductionmentioning

confidence: 99%

Modiﬁed power rate sliding mode control for robot manipulator based on particle swarm optimization

Sinan

Fareh

Hamdan

et al. 2022

IJRA

View full text Add to dashboard Cite

This work suggests an optimized improved power rate sliding mode control (PRSMC) to control a 4-degrees of freedom (DOF) manipulator in joint space as well as workspace. The proposed sliding mode control (SMC) aims to improve the reaching mode and to employ an optimization method to tune the control parameters that operate the robotic manipulator adaptively. Inverse kinematics is used to obtain the joint desired angles from the end effector desired position, while forward kinematics is used to obtain the real Cartesian position and orientation of the end effector from the real joint angles. The proposed enhancements to the SMC involve the use of the hyperbolic tangent function in the control law to improve the reaching mode. Added to that, particle swarm optimization (PSO) is used to tune the parameters of the improved SMC. Furthermore, the Lyapunov function is utilized to analyze the stability of the closed-loop system. The proposed enhanced sliding mode combined with the optimization method is applied experimentally on a 4-DOF manipulator to prove the feasibility and efﬁciency of the proposed controller. Finally, the performance of the suggested control scheme is compared with the conventional power rate SMC in order to demonstrate the enhanced performance of the suggested method.

show abstract

Recent Advances in Nonsingular Terminal Sliding Mode Control Method

Deng

2013

Lecture Notes in Control and Information Sciences

View full text Add to dashboard Cite

An efficient control of rigid robotic manipulator with uncertainties using higher order sliding mode control

Cited by 14 publications

References 16 publications

A finite-time convergent sliding mode control for rigid underactuated robotic manipulator

A finite-time convergent sliding mode control for rigid underactuated robotic manipulator

Modiﬁed power rate sliding mode control for robot manipulator based on particle swarm optimization

Recent Advances in Nonsingular Terminal Sliding Mode Control Method

Contact Info

Product

Resources

About