Second Order Sliding Mode Based Synchronization Control for Cooperative Robot Manipulators

Abdelhedi, Fatma; Bouteraa, Yassine; Derbel, Nabil

doi:10.1007/978-3-319-30169-3_30

Cited by 8 publications

(5 citation statements)

References 12 publications

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“…Thence, this paper presents an extension of a research work originally presented in the 8 th International Conference on Modelling, Identification and Control [1]. Recently, several similar synchronization studies have been investigated in several complex mechanical systems, where flexibility and accuracy have been highly recommended [2], [3], [4], [5], [6]. There exist numerous samples of sophisticated technologies dedicated to modern life, such as material transporting [7], [8], advanced agriculture aggregation [9], building tasks [10], etc.…”

Section: Introductionmentioning

confidence: 95%

Volume 2, Issue 3, Special issue on Recent Advances in Engineering Systems (Published Papers) Articles Transmit / Received Beamforming for Frequency Diverse Array with Symmetrical frequency offsets Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 1-6 (2017); View Description Detailed Analysis of Amplitude and Slope Diffraction Coefficients for knife-edge structure in S-UTD-CH Model Eray Arik, Mehmet Baris Tabakcioglu Adv. Sci. Technol. Eng. Syst. J. 2(3), 7-11 (2017); View Description Applic

Abdelhedi¹,

Derbel²

2016

Adv. sci. technol. eng. syst. j.

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In this paper, a delay-dependent controller based on the sliding mode concept is proposed to stabilize a networked robotic system in a decentralized synchronization scheme. In addition to being affected by communication time-delays between agents, and seen that external disturbances obviously affect any physical and dynamic system, an unsettling action resulting from measurement errors affects the position and the velocity state vectors of agents. Then, it has been proved that the synchronizing algorithm enables cooperative agents, acting in a disturbed environment, to efficiently accomplish a shared task and to compensate delayed communication data. The proposed controller has been implemented in a cooperative robotic system, where the controller proves its robustness face to disturbances.

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Section: Introductionmentioning

confidence: 95%

Volume 2, Issue 3, Special issue on Recent Advances in Engineering Systems (Published Papers) Articles Transmit / Received Beamforming for Frequency Diverse Array with Symmetrical frequency offsets Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 1-6 (2017); View Description Detailed Analysis of Amplitude and Slope Diffraction Coefficients for knife-edge structure in S-UTD-CH Model Eray Arik, Mehmet Baris Tabakcioglu Adv. Sci. Technol. Eng. Syst. J. 2(3), 7-11 (2017); View Description Applic

Abdelhedi¹,

Derbel²

2016

Adv. sci. technol. eng. syst. j.

Self Cite

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“…Among robust nonlinear controllers, sliding mode control is very simple and efficient and thus, many different versions of sliding mode controllers have been presented in the literature. In [7], a second order sliding mode controller has been proposed. Sliding mode approach can be easily combined by other controllers and mathematical tools.…”

Section: Introductionmentioning

confidence: 99%

Observer-based Versus Non-observer Based Adaptive Control of Electrically Driven Cooperative Manipulators Using q-analogue of the Bernstein-Schurer-Stancu Operator as Uncertainty Approximator

Izadbakhsh

Deylami

Khorashadizadeh

2023

Int. J. Control Autom. Syst.

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In this paper, q-analogue of Bernstein-Schurer-Stancu operator is proposed for uncertainty estimation in adaptive control of cooperative electrically driven manipulators. The contribution of this paper is reducing the number of signals needed in construction of the regressor vector for uncertainty estimation due to the simplicity of q-analogue of Bernstein-Schurer-Stancu operator in comparison with other alternatives. It is verified that uniformly ultimately bounded stability of the tracking/approximation errors can be assured if the qanalogue of Bernstein-Schurer-Stancu operator is utilized as regressors.Moreover, it has been assumed that velocity signals are not available and an observer is needed to estimate these signals. Different trajectories including simple and complicated paths have been tested in simulation results. The results are also compared with the case in which velocity signals are in hand to show the accuracy and efficiency of the proposed observer-controller structure.

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“…The problem of controlling a cooperative robotic system with kinematic and dynamic uncertainties was analysed as a synchronizing problem in recent studies. 26,27 A Lyapunov analysis was used to justify the closed-loop stability and the exponential convergence of internal signals. This paper focused on the systemic existence of uncertainties and external disturbances within the dual arm of a humanoid robot.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode nonlinear disturbance observer-based adaptive back-stepping control of a humanoid robotic dual manipulator

Bai

Gong

Chen³

et al. 2018

Robotica

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SUMMARYAn adaptive back-stepping sliding mode controller (ABSMC) algorithm was developed for nonlinear uncertain systems based on a nonlinear disturbance observer (NDO). The developed ABSMC was applied to attitude control for the dual arm of a humanoid robot. Considering the system uncertainty and the unknown external disturbances, the ABSMC scheme was designed to eliminate the chattering phenomenon in the traditional sliding mode control and to reduce the tracking error closer to zero. The ABSMC algorithm solved problems related to the chattering of the system for both uncertainties and disturbances in the humanoid robotic system with an NDO in a two-dimensional environment. The algorithm was designed to work equally well with agents, with higher degrees of freedom in different applications. The method was appropriate for improving tracking performance. The ABSMC algorithm guaranteed global stability and improved the dynamic performance of the system. The algorithm inherited a low computational cost, probabilistic completeness, and asymptotic optimality from the fuzzy sliding mode control. This algorithm has a practical application in the dual arm of a humanoid robot with a circular trajectory. This paper showed the effectiveness and applicability of the proposed methods, which reduced the output of the controller and improved the control performance of the humanoid robotic system. The new combined control algorithm, ABSMC, was able to feasibly and efficiently weaken the chattering on the robot's closed-loop paths, starting and finishing at the same configuration.

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Second Order Sliding Mode Based Synchronization Control for Cooperative Robot Manipulators

Cited by 8 publications

References 12 publications

Observer-based Versus Non-observer Based Adaptive Control of Electrically Driven Cooperative Manipulators Using q-analogue of the Bernstein-Schurer-Stancu Operator as Uncertainty Approximator

Sliding mode nonlinear disturbance observer-based adaptive back-stepping control of a humanoid robotic dual manipulator

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