Application of SMC and NLFC Into a PRRR Robotic Arm

2014 ◽  
Author(s):  
Khaled S. Hatamleh ◽  
Mohammad Al-Shabi ◽  
Qais A. Khasawneh ◽  
Mohammad Abo Al-Asal
Keyword(s):  
Sliding Mode ◽  
Joint Space ◽  
Robotic Arm ◽  
Linear Feedback ◽  
Dynamics Modeling ◽  
Model Uncertainties ◽  
Space Trajectories ◽  
Modeling And Control ◽  
Robotic Arms ◽  
Cartesian Space

Industrial robotic arms are widely used nowadays. Accuracy and efficiency that fulfill user’s requirements are achieved through robust controller. This paper investigates dynamics modeling and control of a four DOF (PRRR) robot that is dedicated to perform a Pick-and-Place move of a certain product. The arm is undergoing manufacturing process. Forward and inverse kinematics solutions are introduced to solve the joint space trajectories associated with the desired End Effector (EE) Cartesian space path. The performance of two controllers under the presence of model uncertainties is inspected through a simulation study; Non-Linear Feedback Control (NLFC) and Sliding Mode Control (SMC) are designed and tested over the required joint space trajectories and Cartesian space path. Results showed that NLFC achieved better results than SMC in terms of RMSE when model uncertainties were absent. However, when model uncertainties were introduced, SMC performance was more robust than NLFC. Simulation results are very encouraging towards using the SMC over the actual robotic arm.

scholarly journals Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

2017 ◽  
Vol 30 (9) ◽  
pp. 1368-1384 ◽  
Author(s):  
Serket Quintanar-Guzmán ◽  
Somasundar Kannan ◽  
Adriana Aguilera-González ◽  
Miguel A. Olivares-Mendez ◽  
Holger Voos
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Sliding Mode ◽  
Joint Space ◽  
Robotic Arm ◽  
Shape Memory Alloy Wire ◽  
Simulation Studies ◽  
End Effector ◽  
Alloy Wire ◽  
Operational Space

This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system are tested in open and closed loops. The mathematical model of the shape memory alloy wire, as well as the kinematics and dynamics of the robotic arm, are presented. The operational space control of the robotic arm is performed using a joint space control in the inner loop and closed-loop inverse kinematics in the outer loop. In order to choose the best joint space control approach, a comparative study of four different control approaches (proportional derivative, sliding mode, adaptive, and adaptive sliding mode control) is carried out for the proposed model. From this comparative analysis, the adaptive controller was chosen to perform operational space control. This control helps us to perform accurate positioning of the end-effector of shape memory alloy wire–based robotic arm. The complete operational space control was successfully tested through simulation studies performing position reference tracking in the end-effector space. Through simulation studies, the proposed control solution is successfully verified to control the hysteretic robotic arm.

scholarly journals Cartesian Constrained Stochastic Trajectory Optimization for Motion Planning

2021 ◽  
Vol 11 (24) ◽  
pp. 11712
Author(s):  
Michal Dobiš ◽  
Martin Dekan ◽  
Adam Sojka ◽  
Peter Beňo ◽  
František Duchoň
Keyword(s):  
Stochastic Optimization ◽  
Motion Planning ◽  
Cost Function ◽  
Trajectory Optimization ◽  
Trajectory Generation ◽  
Joint Space ◽  
Noise Generator ◽  
Robotic Arms ◽  
Cartesian Space ◽  
Path Constraints

This paper presents novel extensions of the Stochastic Optimization Motion Planning (STOMP), which considers cartesian path constraints. It potentially has high usage in many autonomous applications with robotic arms, where preservation or minimization of tool-point rotation is required. The original STOMP algorithm is unable to use the cartesian path constraints in a trajectory generation because it works only in robot joint space. Therefore, the designed solution, described in this paper, extends the most important parts of the algorithm to take into account cartesian constraints. The new sampling noise generator generates trajectory samples in cartesian space, while the new cost function evaluates them and minimizes traversed distance and rotation change of the tool-point in the resulting trajectory. These improvements are verified with simple experiments and the solution is compared with the original STOMP. Results of the experiments show that the implementation satisfies the cartesian constraints requirements.

scholarly journals Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 747
Author(s):  
Mai The Vu ◽  
Tat-Hien Le ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan-Tu Huynh ◽  
Mien Van ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Optimal Allocation ◽  
Position Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Ocean Current ◽  
Model Uncertainties ◽  
Control Module ◽  
Dynamic Sliding Mode

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

scholarly journals MRAS-Based Switching Linear Feedback Strategy for Sensorless Speed Control of Induction Motor Drives

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3083
Author(s):  
Mohamed Amine Fnaiech ◽  
Jaroslaw Guzinski ◽  
Mohamed Trabelsi ◽  
Abdellah Kouzou ◽  
Mohamed Benbouzid ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Induction Motor ◽  
Sliding Mode ◽  
Good Control ◽  
Motor Drives ◽  
Linear Feedback ◽  
Mode Control ◽  
Model Reference Adaptive System ◽  
Feedback Structure ◽  
Model Reference Adaptive

This paper presents a newly designed switching linear feedback structure of sliding mode control (SLF-SMC) plugged with an model reference adaptive system (MRAS) based sensorless field-oriented control (SFOC) for induction motor (IM). Indeed, the performance of the MRAS depends mainly on the operating point and the parametric variation of the IM. Hence, the sliding mode control (SMC) could be considered a good control alternative due to its easy implementation and robustness. Simulation and experimentation results are presented to show the superiority of the proposed SLF-SMC technique in comparison with the classical PI controller under different speed ranges and inertia conditions.

Modified sliding mode control of a seismic active mass damper system considering model uncertainties and input time delay

2016 ◽  
Vol 24 (6) ◽  
pp. 1051-1064 ◽  
Author(s):  
Mehdi Soleymani ◽  
Amir Hossein Abolmasoumi ◽  
Hasanali Bahrami ◽  
Arash Khalatbari-S ◽  
Elham Khoshbin ◽  
...  
Keyword(s):  
Structural Control ◽  
Sliding Mode ◽  
Test Structure ◽  
Dynamic State ◽  
Shake Table ◽  
Model Uncertainties ◽  
Actuator Dynamics ◽  
Active Structural Control ◽  
Mass Damper ◽  
Active Mass Damper

Model uncertainties and actuator delays are two factors that degrade the performance of active structural control systems. A new robust control system is proposed for control of an active tuned mass damper (AMD) in a high-rise building. The controller comprises a two-loop sliding model controller in conjunction with a dynamic state predictor. The sliding model controller is responsible for model uncertainties and the state predictor compensates for the time delays due to actuator dynamics and process delay. A reduced model that is validated against experimental data was constructed and equipped with an electro-mechanical AMD system mounted on the top storey. The proposed controller was implemented in the test structure and its performance under seismic disturbances was simulated using a seismic shake table. Moreover, robustness of the proposed controller was examined via variation of the test structure parameters. The shake table test results reveal the effectiveness of the proposed controller at tackling the simulated disturbances in the presence of model uncertainties and input delay.

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