Beyond Linear Control Approaches - Sliding Mode Control of Flexible Robotic Manipulator

Khan, Owais; Rehman, Ateeq ur; Pervaiz, Mahmood

doi:10.1109/fit.2016.009

Cited by 13 publications

(9 citation statements)

References 15 publications

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“…When comparing flexible manipulators with their rigid-link counterparts, several notable advantages become evident. Flexible manipulators offer significant benefits, including reduced material usage, lower power requirements, decreased weight, fewer required actuators, and improved maneuverability 45 . Moreover, they enable safer operation in real-world scenarios and higher operating speeds.…”

Section: Simulation Performance Evaluationmentioning

confidence: 99%

Optimization of PID trajectory tracking controller for a 3-DOF robotic manipulator using enhanced Artificial Bee Colony algorithm

Azeez,

Abdelhaleem,

Elnaggar

et al. 2023

Sci Rep

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This study introduces and compares two optimization techniques, the basic Artificial Bee Colony (ABC) and the enhanced Artificial Bee Colony with multi-elite guidance (MGABC), for determining optimal gains of a Proportional-Integral-Derivative (PID) controller in a 3 degrees of freedom (DOF) rigid link manipulator (RLM) system. The objective function used in the optimization process is a novel function that is based on the well-known Lyapunov stability functions. This function is evaluated against established error-based objective functions commonly used in control systems. The convergence curves of the optimization process demonstrate that the MGABC algorithm outperforms the basic ABC algorithm by effectively exploring the search space and avoiding local optima. The evaluation of the controller's performance in trajectory tracking reveals the superiority of the Lyapunov-based objective function (LBF), with significant improvements over other objective functions such as IAE, ISE, ITAE, MAE and MRSE. The optimized system demonstrates robustness to diverse disturbance conditions and uncertainty in the mass of the payload, while also exhibiting adaptability to joints flexibility without inducing any vibrations in the movement of the end-effector. The proposed techniques and objective function offer promising avenues for the optimization of PID controllers in various robotic applications.

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Section: Simulation Performance Evaluationmentioning

confidence: 99%

Optimization of PID trajectory tracking controller for a 3-DOF robotic manipulator using enhanced Artificial Bee Colony algorithm

Azeez,

Abdelhaleem,

Elnaggar

et al. 2023

Sci Rep

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“…26 The quantity being controlled is driven onto the sliding manifold to achieve a steady state. 27 The sliding manifold in the present work, has been developed using the higher order derivatives based on the derived model reported in Nguyen et al 28 Therefore, it is necessary to linearize the actuator dynamics into an approximate linear differential equation as highlighted in Nguyen. 29 The order of the derivative signal depends on the system order.…”

Section: Introductionmentioning

confidence: 99%

Application of hybrid control algorithm on the vehicle active suspension system to reduce vibrations

Nguyen,

Iqbal,

Tran

et al. 2024

Advances in Mechanical Engineering

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This research proposes a hybrid control algorithm to enhance smoothness in a vehicle’s motion. The control signal is synthesized from two separate controllers, Proportional Integral Derivative (PID) and Sliding Mode Control (SMC), to achieve superior control performance. The novelty of the proposed control algorithm lies in using a double-loop algorithm to determine the controller parameters. The algorithm proposed in this research involves two computational processes to determine the model’s optimal values including the raw value and the acceptable value. The proposed control algorithm has been simulated considering three specific cases corresponding to the three types of road stimuli. The results demonstrate that the values of sprung mass displacement and acceleration dropped considerably with the application of the proposed algorithm. Moreover, the change in vertical force at the wheel is also reduced with the application of the algorithm particularly in the third case where the vertical force at the wheel has reached to zero. The average values of vehicle body displacement are found to be 166.17 mm (for passive case), 54.20 mm (for PID), and 42.52 mm (for SMC). The proposed control algorithm managed to reduce this value to 8.95 mm as evidenced by simulation results. Finally, the response of the control system when subjected to an excitation signal from the road surface further demonstrates efficacy of the proposed hybrid control algorithm.

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“…A fractional order sliding mode control (FOSMC) is used to reduce chattering in a current and power signals. It gradually suppresses signal chattering in a lower order system using traditional sliding mode control (SMC) [ 30 – 34 ]. In [ 35 ], a magnetic suspension system of a low speed maglev train was suggested along with the implementation of magnetic suspension controller and a nonlinear mathematical model of the magnetic suspension system.…”

Section: Introductionmentioning

confidence: 99%

Passivity-based Rieman Liouville fractional order sliding mode control of three phase inverter in a grid-connected photovoltaic system

Khan,

Agha

et al. 2024

PLoS ONE

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Photovoltaic (PV) system parameters are always non-linear due to variable environmental conditions. The Maximum power point tracking (MPPT) is difficult under multiple uncertainties, disruptions and the occurrence of time-varying stochastic conditions. Therefore, Passivity based Fractional order Sliding-Mode controller (PBSMC) is proposed to examine and develop a storage function in error tracking for PV power and direct voltage in this research work. A unique sliding surface for Fractional Order Sliding Mode Control (FOSMC) framework is proposed and its stability and finite time convergence is proved by implementing Lyapunov stability method. An additional input of sliding mode control (SMC) is also added to a passive system to boost the controller performance by removing the rapid uncertainties and disturbances. Therefore, PBSMC, along with globally consistent control efficiency under varying operating conditions is implemented with enhanced system damping and substantial robustness. The novelty of the proposed technique lies in a unique sliding surface for FOSMC framework based on Riemann Liouville (R-L) fractional calculus. Results have shown that the proposed control technique reduces the tracking error in PV output power, under variable irradiance conditions, by 81%, compared to fractional order proportional integral derivative (FOPID) controller. It is reduced by 39%, when compared to passivity based control (PBC) and 28%, when compared to passivity based FOPID (EPBFOPID). The proposed technique led to the least total harmonic distortion in the grid side voltage and current. The tracking time of PV output power is 0.025 seconds in PBSMC under varying solar irradiance, however FOPID, PBC, EPBFOPID, have failed to converge fully. Similarly the dc link voltage has tracked the reference voltage in 0.05 seconds however the rest of the methods either could not converge, or converged after significant amount of time. During solar irradiance and temperature change, the photovoltaic output power has converged in 0.018 seconds using PBSMC, however remaining methods failed to converge or track fully and the dc link voltage has minimum tracking error due to PBSMC as compared to the other methods. Furthermore, the photovoltaic output power converges to the reference power in 0.1 seconds in power grid voltage drop, whereas other methods failed to converge fully. In addition power is also injected from the PV inverter into the grid at unity power factor.

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Beyond Linear Control Approaches - Sliding Mode Control of Flexible Robotic Manipulator

Cited by 13 publications

References 15 publications

Optimization of PID trajectory tracking controller for a 3-DOF robotic manipulator using enhanced Artificial Bee Colony algorithm

Optimization of PID trajectory tracking controller for a 3-DOF robotic manipulator using enhanced Artificial Bee Colony algorithm

Application of hybrid control algorithm on the vehicle active suspension system to reduce vibrations

Passivity-based Rieman Liouville fractional order sliding mode control of three phase inverter in a grid-connected photovoltaic system

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