Sliding Mode Control Based on Chemical Reaction Optimization and Radial Basis Functional Link Net for De-Icing Robot Manipulator

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
Thuy Van Tran ◽  
YaoNan Wang ◽  
HungLinh Ao ◽  
Tung Khac Truong
Keyword(s):  
Sliding Mode Control ◽  
Chemical Reaction ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Stability And Convergence ◽  
Chemical Reaction Optimization ◽  
Functional Link ◽  
Mode Control ◽  
Reaction Optimization ◽  
Radial Basis

In this paper, a sliding mode control (SMC) system based on combining chemical reaction optimization (CRO) algorithm with radial basis functional link net (RBFLN) for an n-link robot manipulator is proposed to achieve the high-precision position tracking. In the proposed scheme, a three-layer RBFLN with powerful approximation ability is employed to approximate the uncertainties, such as parameter variations, friction forces, and external disturbances, and to eliminate chattering phenomenon of the SMC. In order to achieve the expected performance in the initial phase as well as the improved convergence rate, the RBFLN parameters need to be optimized in advance. Therefore, the initial parameters of the RBFLN are optimized offline by CRO algorithm instead of random selection. Furthermore, the RBFLN weights are determined online according to adaptive tuning laws in the sense of a projection algorithm and the Lyapunov stability theorem to guarantee the stability and convergence of the system. The simulation results of three-link de-icing robot manipulator (DIRM) are provided to verify the robustness and effectiveness of the proposed methodology.

Fuzzy sliding mode control for a robot manipulator

2008 ◽  
Vol 13 (1) ◽  
pp. 124-128 ◽  
Author(s):  
Ha Quang Thinh Ngo ◽  
Jin-Ho Shin ◽  
Won-Ho Kim
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode

Adaptive incremental sliding mode control for a robot manipulator

Mechatronics ◽  
2022 ◽  
Vol 82 ◽  
pp. 102717
Author(s):  
Yongchao Wang ◽  
Zengjie Zhang ◽  
Cong Li ◽  
Martin Buss
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Mode Control

A linear matrix inequality–based proportional-derivative sliding mode control tuning method in robotic systems subjected to external disturbance

2020 ◽  
Vol 26 (23-24) ◽  
pp. 2297-2315
Author(s):  
Valiollah Ghaffari
Keyword(s):  
Sliding Mode Control ◽  
Linear Matrix Inequality ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
External Disturbance ◽  
Inequality Constraints ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Tuning Method ◽  
Mode Control

The proportional-derivative sliding-mode control will be designed and tuned in the trajectory tracking of a robot manipulator which operates on uncertain dynamic environments. For achieving these goals, first, a linear matrix inequality–based framework is suggested to design a robust proportional-derivative sliding-mode control in the presence of external disturbances. Next, the parameters of the proportional-derivative sliding-mode control law will be tuned via another minimization problem subjected to some linear matrix inequality constraints. Thus, the controller parameters can be automatically updated via the solution of the optimization problem. The results are successfully used in the robot manipulator with considering two reference paths and some different loads. The simulation results show the effectiveness of the proposed method in comparison with the same technique.

ADAPTIVE SUPER-TWISTING-LIKE SLIDING MODE CONTROL WITH PRESCRIBED PERFORMANCE FOR ROBOT MANIPULATORS

2019 ◽  
Vol 19 (08) ◽  
pp. 1940053
Author(s):  
SHUPENG ZHENG ◽  
XINJIAN NIU ◽  
CHENHUI PENG
Keyword(s):  
Steady State ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Parameter Tuning ◽  
Unknown Boundary ◽  
Surgical Robots ◽  
Prescribed Performance ◽  
Mode Control

In order to minimize the involuntary tremor of surgeon’s hands, the surgical robots are widely applied in the minimally invasive surgeries. However, unlike ordinary robots, the surgical robots require that the manipulator has high precision and strong anti-disturbance ability. Besides that, the manipulators of surgical robots must be able to move smoothly and respond quickly to the surgeon’s instructions during conducting tasks. To solve aforementioned problems, this paper describes a super-twisting sliding mode controller for the robot manipulator. The basic law is combined with the adaptive term to overcome the unknown disturbances and structural uncertainties, and with the prescribed performance allowing to influence the error dynamics. To ensure the robot system has good transient and steady-state performances, the transformation function of tracking errors is devised. Through using transformed errors, we attain the surface of sliding mode and propose a modified structure of traditional super-twisting algorithm. Considering the derivative of lumped disturbance has unknown boundary, a novel adaptive law is derived for the modified super-twisting sliding mode control which does not require the boundary of disturbance. Simulation experiments showed that the proposed control algorithm not only improves the tracking performance of surgical robot manipulators, but also facilitates the parameter tuning of controller. The devised robot manipulators are also potentially applicable to telesurgery where the steady-state response of surgical robots is required.

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