Sliding Mode Controller Design for Flexible Joint Robot

Gorial, Ivan

doi:10.30684/etj.36.7a.5

Cited by 3 publications

(1 citation statement)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The method was evaluated on a flexible joint manipulator, demonstrating effectiveness under uncertainty. Gorial [2] employed sliding mode control (SMC) on a flexible joint robot actuated by a direct current (DC) motor model. Wajdi et al [3] proposed SMC for handling matched and mismatched uncertainties along with external disturbances in suspension dynamics.…”

Section: Introductionmentioning

confidence: 99%

Robust Control with Optimal Integral Sliding Mode Controller for the Uncertain Flexible Joint Robot

Ali,

Hassan,

Bano

2024

Preprint

View full text Add to dashboard Cite

This study introduces a novel robust optimal control design for a flexible joint robot manipulator. The proposed control design combines robust optimal control (ROC) and robust optimal integral sliding mode control (ROISMC), transforming the robust control problem into an optimal control problem for both matched and mismatched unknown functions, as demonstrated through the Lyapunov function. The validity of both schemes is established through comparison with the desired results of flexible joint angle and rotor joint angle and velocity. It is found that their results are accurately alignment with the desired trajectory, even in the presence of mismatched functions.

show abstract

Section: Introductionmentioning

confidence: 99%

Robust Control with Optimal Integral Sliding Mode Controller for the Uncertain Flexible Joint Robot

Ali,

Hassan,

Bano

2024

Preprint

View full text Add to dashboard Cite

show abstract

Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite

Chen

2021

Applied Sciences

View full text Add to dashboard Cite

During the process of satellite capture by a flexible base–link–joint space robot, the base, joints, and links vibrate easily and also rotate in a disorderly manner owing to the impact torque. To address this problem, a repetitive learning sliding mode stabilization control is proposed to stabilize the system. First, the dynamic models of the fully flexible space robot and the captured satellite are established, respectively, and the impact effect is calculated according to the motion and force transfer relationships. Based on this, a dynamic model of the system after capturing is established. Subsequently, the system is decomposed into slow and fast subsystems using the singular perturbation theory. To ensure that the base attitude and the joints of the slow subsystem reach the desired trajectories, link vibrations are suppressed simultaneously, and a repetitive learning sliding mode controller based on the concept of the virtual force is designed. Moreover, a multilinear optimal controller is proposed for the fast subsystem to suppress the vibration of the base and joints. Two sub-controllers constitute the repetitive learning sliding mode stabilization control for the system. This ensures that the base attitude and joints of the system reach the desired trajectories in a limited time after capturing, obtain better control quality, and suppress the multiple flexible vibrations of the base, links and joints. Finally, the simulation results verify the effectiveness of the designed control strategy.

show abstract

Integrated Fixed Time Sliding Mode Control for Motion and Vibration of Space Robot with Fully Flexible Base–Link–Joint

Chen

2021

Applied Sciences

View full text Add to dashboard Cite

The dynamic modeling, motion control and flexible vibration active suppression of space robot under the influence of flexible base, flexible link and flexible joint are explored, and motion and vibration integrated fixed-time sliding mode control of fully flexible system is designed. The flexibility of the base and joints are equivalent to the vibration effect of linear springs and torsion springs. The flexible links are regarded as Euler–Bernoulli simply supported beams, which are analyzed by the hypothetical mode method, and the dynamic model of the fully flexible space robot is established by using the Lagrange equation. Then, the singular perturbation theory is used to decompose the model into slow subsystem including rigid motion and the link flexible vibrations, and fast subsystems including the base and the joint flexible vibrations. A fixed time sliding mode control based on hybrid trajectory is designed for the slow subsystem to ensure that the base and joints track the desired trajectory in a limited time while achieving vibration suppression on the flexible links. For the fast subsystem, linear quadratic optimal control is used to suppress the flexible vibration of the base and joints. The simulation results show that the controller proposed in the paper can make the system state converge within a fixed time, is robust to model uncertainty and external interference, and can effectively suppress the flexible vibration of the base, links, and joints.

show abstract

Sliding Mode Controller Design for Flexible Joint Robot

Cited by 3 publications

References 15 publications

Robust Control with Optimal Integral Sliding Mode Controller for the Uncertain Flexible Joint Robot

Robust Control with Optimal Integral Sliding Mode Controller for the Uncertain Flexible Joint Robot

Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite

Integrated Fixed Time Sliding Mode Control for Motion and Vibration of Space Robot with Fully Flexible Base–Link–Joint

Contact Info

Product

Resources

About