Real-time control of triglide robot using sliding mode control method

2018 ◽  
Vol 45 (1) ◽  
pp. 89-97 ◽  
Author(s):  
Muhammet Aydin ◽  
Oguz Yakut
Keyword(s):  
Sliding Mode Control ◽  
Real Time ◽  
Reference Values ◽  
Control Method ◽  
Sliding Mode ◽  
Parallel Robot ◽  
Real Time Control ◽  
Content Type ◽  
Mode Control ◽  
Time Control

Purpose The purpose of the study is to design a three-dimensional (3D) triglide parallel robot with a different approach and to control the manufactured robot via sliding mode control method that has not been applied to the robot before. Design/methodology/approach The x, y and z coordinates of the end effector of the robot have been given as a reference. The x, y and z reference values are transformed as new reference values of the vertical movement of the robot on the endless screw by using the inverse kinematic equations of the robot. The control of the robot over these reference values is provided by a sliding mode control. The MATLAB/real-time toolbox has been used for creating the interface. The real-time control of the triglide robot has been carried out with a sliding mode controller in the Simulink environment. Findings When the results of the sliding mode control are examined, it is seen that the desired reference values are provided in about 0.6 s. The velocity of the sliding limbs in each arm of the robot is approximately 50 mm/s. The reference values have been reached using the sliding mode control method, with an average error of 0.01 mm. In addition, the problem of chattering in the system caused by using the sign function has been relatively eliminated by using the saturation function instead of the sign function. Thus, the sliding mode control method with saturation function is more feasible. Originality/value In this study, the triglide parallel robot was manufactured using a 3D model after taking into consideration the dimensions of the 3D model. After production, the necessary hardware connections were provided, and a real-time sliding mode control method was implemented to the robot by using the interface program in MATLAB/Simulink environment. The literature contribution of the paper is the real-time control of the triglide robot with the sliding mode control method.

Study on Smooth Sliding Mode Control of Parallel Robot

2014 ◽  
Vol 933 ◽  
pp. 379-383
Author(s):  
Cai Hong Zhu ◽  
Hong Sun ◽  
Hong Tao Zhang
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Parallel Robot ◽  
Small Error ◽  
Step Motor ◽  
Real Time Control ◽  
Mode Control ◽  
Time Control ◽  
New Type

Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the new-type parallel robot mechanism with step motor drive, the closed-formed solutions were developed for both inverse and direct kinematics, a track planning in its workspace has been carried out, and a model of control system was establish, after that a kind of sliding mode control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. It is shown that the parallel robot system using the proposed control algorithm does not have the chattering problem. The system has good robustness, and is robust to the uncertainties and disturbance, and has good performance in tracking, and high precision real-time control on this parallel robot is achieved.

Fixed-time fractional-order sliding mode control for nonlinear power systems

2020 ◽  
Vol 26 (17-18) ◽  
pp. 1425-1434 ◽  
Author(s):  
Sunhua Huang ◽  
Jie Wang
Keyword(s):  
Sliding Mode Control ◽  
Power System ◽  
Fractional Order ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Fixed Time ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Time Control

In this study, a fractional-order sliding mode controller is effectively proposed to stabilize a nonlinear power system in a fixed time. State trajectories of a nonlinear power system show nonlinear behaviors on the angle and frequency of the generator, phase angle, and magnitude of the load voltage, which would seriously affect the safe and stable operation of the power grid. Therefore, fractional calculus is applied to design a fractional-order sliding mode controller which can effectively suppress the inherent chattering phenomenon in sliding mode control to make the nonlinear power system converge to the equilibrium point in a fixed time based on the fixed-time stability theory. Compared with the finite-time control method, the convergence time of the proposed fixed-time fractional-order sliding mode controller is not dependent on the initial conditions and can be exactly evaluated, thus overcoming the shortcomings of the finite-time control method. Finally, superior performances of the fractional-order sliding mode controller are effectively verified by comparing with the existing finite-time control methods and integral order sliding mode control through numerical simulations.

Design of adaptive sliding mode controller applied to ultrasonic motor

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Gangfeng Yan
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Control Parameters ◽  
Content Type ◽  
Adaptive Sliding Mode ◽  
Mode Control

Purpose The purpose of this paper is to achieve high-precision sliding mode control without chattering; the control parameters are easy to adjust, and the entire controller is easy to use in engineering practice. Design/methodology/approach Using double sliding mode surfaces, the gain of the control signal can be adjusted adaptively according to the error signal. A kind of sliding mode controller without chattering is designed and applied to the control of ultrasonic motors. Findings The results show that for a position signal with a tracking amplitude of 35 mm, the traditional sliding mode control method has a maximum tracking error of 0.3326 mm under the premise of small chattering; the boundary layer sliding mode control method has a maximum tracking error of 0.3927 mm without chattering, and the maximum tracking error of continuous switching adaptive sliding mode control is 0.1589 mm, and there is no chattering. Under the same control parameters, after adding a load of 0.5 kg, the maximum tracking errors of the traditional sliding mode control method, the boundary layer sliding mode control method and the continuous switching adaptive sliding mode control are 0.4292 mm, 0.5111 mm and 0.1848 mm, respectively. Originality/value The proposed method not only switches continuously, but also the amplitude of the switching signal is adaptive, while maintaining the robustness of the conventional sliding mode control method, which has strong engineering application value.

A Novel Sliding Mode Control Base on Synchronization Error for Parallel Robot

2012 ◽  
Vol 468-471 ◽  
pp. 758-766
Author(s):  
Guo Qin Gao ◽  
Wei Wang ◽  
Xue Mei Niu ◽  
Hai Yan Zhou
Keyword(s):  
Sliding Mode Control ◽  
Motion Control ◽  
Control Method ◽  
Sliding Mode ◽  
Parallel Robot ◽  
Synchronization Error ◽  
Mode Control ◽  
Method Base ◽  
Serial Robot ◽  
Simulation And Experiment

Relative to serial robot, parallel robot gets more and more attention of scholars because of its many advantages. However, there are some problems in the current research such as the chains’ coordination and coupling control, which has became one of the key problems in the motion control of parallel robot. To further enhance the motion control performances, a novel sliding mode control method base on synchronization error is proposed in this paper. The simulation and experiment results show that the designed control system has good tracking performance, small system error and strong robustness, which can satisfy the high-precision requirements of the parallel robot control.

Real-time predictive sliding mode control method for AGV with actuator delay

2019 ◽  
Vol 7 (4) ◽  
pp. 448-459 ◽  
Author(s):  
Zhi Chen ◽  
Jian Fu ◽  
Xiao-Wei Tu ◽  
Ao-Lei Yang ◽  
Min-Rui Fei
Keyword(s):  
Sliding Mode Control ◽  
Real Time ◽  
Control Method ◽  
Sliding Mode ◽  
Mode Control

scholarly journals A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment

2018 ◽  
Vol 8 (10) ◽  
pp. 1892 ◽  
Author(s):  
Laixi Zhang ◽  
Jaspreet Singh Dhupia ◽  
Mingliang Wu ◽  
Hua Huang
Keyword(s):  
Sliding Mode Control ◽  
Real Time ◽  
Sliding Mode ◽  
Dynamic Control ◽  
Variable Structure ◽  
Real Time Control ◽  
End Effector ◽  
Mode Control ◽  
Robotic Drilling ◽  
Control Scheme

A robotic drilling end-effector is designed and modeled, and a sliding mode variable structure control architecture based on the reaching law is proposed for its normal adjustment dynamic control. By using a third-order nonlinear integration chain differentiator for obtaining the unmeasurable speed and acceleration signals from the position signals, this sliding mode control scheme is developed with good dynamic quality. The new control law ensures global stability of the entire system and achieves both stabilization and tracking within a desired accuracy. A real-time control experiment platform is established in xPC target environment based on MATLAB Real-Time Workshop (RTW) to verify the proposed control scheme and simulation results. Simulations and experiments performed on the designed robotic end-effector illustrate and clarify that the proposed control scheme is effective.

scholarly journals Fuzzy Adaptive Sliding Mode Control of Sandblasting and Rust Removal Parallel Robot

2021 ◽  
Vol 5 (2) ◽  
pp. p9
Author(s):  
Gao Hang
Keyword(s):  
Sliding Mode Control ◽  
Parallel Mechanism ◽  
Control Method ◽  
Sliding Mode ◽  
Parallel Robot ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Robust Adaptive ◽  
Fuzzy Adaptive

In order to overcome the trajectory tracking distortion caused by the friction mutations of the sandblasting and rust removal parallel robot based on the Stewart parallel mechanism, a fuzzy adaptive sliding mode control method that compensates for the friction mutations is designed. Firstly, the kinematics of the mechanism is analyzed by analytic method and the dynamic model of the Stewart parallel mechanism is established based on Lagrange method. Then, the robust adaptive term of the sliding mode is designed based on the sliding mode variable to estimate the uncertain term in real time, replacing the sliding Switching items of mode control to compensate for the influence of uncertain factors such as unmodeled dynamics, external disturbances and time-varying parameters, and to effectively suppress chattering of sliding mode control; Next, by designing fuzzy control based on sliding mode variable and sliding mode variable derivative, the dynamic adjustment of the sliding mode robust adaptive term gain is realized to compensate for the interference of the frictional force mutation, thereby eliminating the trajectory tracking distortion problem of the Stewart mechanism joint commutation. Finally, using MATLAB control method for numerical simulation and verify the effectiveness of the proposed fuzzy adaptive sliding mode control method to compensate for friction mutations.

scholarly journals Sliding Mode Control of Cable-Driven Redundancy Parallel Robot with 6 DOF Based on Cable-Length Sensor Feedback

2017 ◽  
Vol 2017 ◽  
pp. 1-21 ◽  
Author(s):  
Wei Lv ◽  
Limin Tao ◽  
Zhengnan Ji
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Estimation Method ◽  
Parallel Robot ◽  
Forward Kinematics ◽  
Cable Length ◽  
Marquardt Method ◽  
Mode Control ◽  
Levenberg Marquardt

The sliding mode control of the cable-driven redundancy parallel robot with six degrees of freedom is studied based on the cable-length sensor feedback. Under the control scheme of task space coordinates, the cable length obtained by the cable-length sensor is used to solve the forward kinematics of the cable-driven redundancy parallel robot in real-time, which is treated as the feedback for the control system. First, the method of forward kinematics of the cable-driven redundancy parallel robot is proposed based on the tetrahedron method and Levenberg-Marquardt method. Then, an iterative initial value estimation method for the Levenberg-Marquardt method is proposed. Second, the sliding mode control method based on the exponential approach law is used to control the effector of the robot, and the influence of the sliding mode parameters on control performance is simulated. Finally, a six-degree-of-freedom position tracking experiment is carried out on the principle prototype of the cable-driven redundancy parallel robot. The experimental results show that the robot can accurately track the desired position in six directions, which indicates that the control method based on the cable-length sensor feedback for the cable-driven redundancy parallel robot is effective and feasible.

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