Proportional-Integral Sliding Mode Control for Trajectory Tracking and Vibration Control of a Flexible Single Link Manipulator

Rachidi, Mohammed; Idrissi, Badr Bououlid

doi:10.14257/ijca.2014.7.7.17

Cited by 3 publications

(1 citation statement)

References 11 publications

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“…Nonetheless, the introduction of flexibility also increases the complexity of control. In practice, FJM is a highly nonlinear, strongly coupled and time-varying system [3]. Besides, the degree-of-freedom (DoF) of FJM is larger than its number of control input.…”

Section: Introductionmentioning

confidence: 99%

Design and stability analysis of semi-implicit cascaded proportional-derivative controller for underactuated cart-pole inverted pendulum system

Lei,

Li,

Zhu

2023

Robotica

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This article proposes a control method for underactuated cartpole systems using semi-implicit cascaded proportional-derivative (PD) controller. The proposed controller is composed of two conventional PD controllers, which stabilizes the pole and the cart second-order dynamics respectively. The first PD controller is realized by transforming the pole dynamics into a virtual PD controller, with the coupling term exploited as the internal tracking target for the cart dynamics. Then, the second PD controller manipulates the cart dynamics to track that internal target. The solution to the internal tracking target relies on an equation set and features a semi-implicit process, which exploits the internal dynamics of the system. Besides, the design of second PD controller relies on the parameters of the first PD controller in a cascaded manner. A stability analysis approach based on Jacobian matrix is proposed and implemented for this fourth-order system. The proposed method is simple in design and intuitive to comprehend. The simulation results illustrate the superiority of proposed method compared with conventional double-loop PD controller in terms of convergence, with the theoretical conclusion of at least locally asymptotic stability.

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Section: Introductionmentioning

confidence: 99%

Design and stability analysis of semi-implicit cascaded proportional-derivative controller for underactuated cart-pole inverted pendulum system

Lei,

Li,

Zhu

2023

Robotica

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Design, implementation and control of a two-link fully-actuated robot capable of online identification of unknown dynamical parameters using adaptive sliding mode controller

Tajdari

Kabganian

Khodabakhshi

et al. 2017

2017 Artificial Intelligence and Robotics (IRANOPEN)

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Sliding mode and adaptive sliding mode control approaches of two link flexible manipulator

Lochan

Suklabaidya

Roy

2015

Proceedings of the 2015 Conference on Advances in Robotics

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Proportional-Integral Sliding Mode Control for Trajectory Tracking and Vibration Control of a Flexible Single Link Manipulator

Abstract: This paper presents investigations into the development of a Proportional-Integral Sliding

Cited by 3 publications

References 11 publications

Design and stability analysis of semi-implicit cascaded proportional-derivative controller for underactuated cart-pole inverted pendulum system

Design and stability analysis of semi-implicit cascaded proportional-derivative controller for underactuated cart-pole inverted pendulum system

Design, implementation and control of a two-link fully-actuated robot capable of online identification of unknown dynamical parameters using adaptive sliding mode controller

Sliding mode and adaptive sliding mode control approaches of two link flexible manipulator

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