An improved optimal integral sliding mode control for uncertain robotic manipulators with reduced tracking error, chattering, and energy consumption

Norsahperi, Nor Mohd Haziq; Danapalasingam, Kumeresan A.

doi:10.1016/j.ymssp.2020.106747

Cited by 46 publications

(17 citation statements)

References 52 publications

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“…In (19), e i is the input error variable; α i is a nonlinear factor and 0 < α i < 1; δ i is the filter factor.…”

Section: Model Assisted Nonlinear Extended State Observermentioning

confidence: 99%

“…To remedy such a defect, the integral sliding mode control (ISMC) is proposed. By setting the initial state of the integrator reasonably, the initial state of the system is on the sliding mode surface at the beginning, thus eliminating the arrival phase and improving the robustness of the control system [19]. However, ISMC exhibits insensitivity to the matched and unmatched uncertainties throughout the system response.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Terminal Traction Control of Teleoperation Manipulator With Random Jitter Disturbance Based on Active Disturbance Rejection Sliding Mode Control

Feng³

2020

IEEE Access

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“…In (19), e i is the input error variable; α i is a nonlinear factor and 0 < α i < 1; δ i is the filter factor.…”

Section: Model Assisted Nonlinear Extended State Observermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Terminal Traction Control of Teleoperation Manipulator With Random Jitter Disturbance Based on Active Disturbance Rejection Sliding Mode Control

Feng³

2020

IEEE Access

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“…This effect leads to a large stress on the actuation hardware and can excite vibrations in the structure. To reduce the two effects, several schemes have been proposed, involving some kind of smoothing, namely by changing the "on-off" switching algorithm, or by complementing the VSC with some adaptive or feedforward control actions [11][12][13]. However, the first-order reference model is not well suited to the system's intrinsic dynamics; therefore, a second-order model was proposed [2,14,15].…”

Section: Introductionmentioning

confidence: 99%

Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method

Lopes

Machado

2021

Sensors

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This paper studies the use of multidimensional scaling (MDS) to assess the performance of fractional-order variable structure controllers (VSCs). The test bed consisted of a revolute planar robotic manipulator. The fractional derivatives required by the VSC can be obtained either by adopting numerical real-time signal processing or by using adequate sensors exhibiting fractional dynamics. Integer (fractional) VCS and fractional (integer) sliding mode combinations with different design parameters were tested. Two performance indices based in the time and frequency domains were adopted to compare the system states. The MDS generated the loci of objects corresponding to the tested cases, and the patterns were interpreted as signatures of the system behavior. Numerical experiments illustrated the feasibility and effectiveness of the approach for assessing and visualizing VSC systems.

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“…To evaluate the performance of the proposed controller, we introduce an ISMC and compare its response with the UUB + IOLC. The ISMC has been developed and applied in various applications [14][15][16][17][18] as a solution to the robustness and performance issues of the conventional sliding mode controller (SMC). To validate the efficiency of the proposed controller, two sets of experiments were conducted on the pilot model; the first is an experiment with the nominal system and the second is with an uncertain system.…”

Section: Introductionmentioning

confidence: 99%

A Robust Payload Control System Design for Offshore Cranes: Experimental Study

et al. 2021

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This paper presents a robust controller design of payload position control for an offshore crane facing disturbance and parametric uncertainties. The offshore operations with cranes while lifting and lowering a payload can be dangerous since safety and efficiency are affected by waves, wind and ocean currents. Such harsh sea conditions put the offshore crane and payload through unwanted disturbances and parametric uncertainties, which requires a robust control system to guarantee reliable performance of these systems. In this paper, we detail a controller designed based on uniformly ultimately bounded (UUB) theory, combined with the input-output linearization control technique (IOLC). The stability of the closed-loop system under the UUB conditions is analyzed using the energy-based Lyapunov function. To evaluate the control performance of the proposed controller, along with an IOLC and an integral sliding mode controller (ISMC), a comparison study is also conducted. The control performance and efficiency of the proposed controller are validated through experiments on an offshore crane model.

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An improved optimal integral sliding mode control for uncertain robotic manipulators with reduced tracking error, chattering, and energy consumption

Cited by 46 publications

References 52 publications

Terminal Traction Control of Teleoperation Manipulator With Random Jitter Disturbance Based on Active Disturbance Rejection Sliding Mode Control

Terminal Traction Control of Teleoperation Manipulator With Random Jitter Disturbance Based on Active Disturbance Rejection Sliding Mode Control

Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method

A Robust Payload Control System Design for Offshore Cranes: Experimental Study

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