scholarly journals Optimal super-twisting sliding mode control design of robot manipulator: Design and comparison study

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142098152
Author(s):  
Ayad Q Al-Dujaili ◽  
Alaq Falah ◽  
Amjad J Humaidi ◽  
Daniel A Pereira ◽  
Ibraheem K Ibraheem
Keyword(s):  
Sliding Mode Control ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Dynamic Performance ◽  
Control Design ◽  
Design Parameters ◽  
Robust Tracking Control ◽  
Mode Control ◽  
Manipulator Design

This article presents a tracking control design for two-link robot manipulators. To achieve robust tracking control performance, a super-twisting sliding mode control (STSMC) is derived. The stability of the system based on the proposed approach is proved based on the Lyapunov theorem. However, one problem with the designed STSMC is to properly set its parameters during the design. Therefore, it is proposed a social spider optimization (SSO) to tune these design parameters to improve the dynamic performance of the robot manipulator controlled considering STSMC. The performance of the STSMC approach based on SSO is compared to that based on particle swarming optimization (PSO) in terms of dynamic performance and robustness characteristics. The effectiveness of the proposed optimal controllers is verified by simulations within the MATLAB software. It is verified that the performance given by SSO-based STSMC outperforms that resulting from PSO-based STSMC. The experimental results are conducted based on LabVIEW 2019 software to validate the numerical simulation.

scholarly journals Adaptive Trajectory Tracking Control for Rotorcraft Using Incremental Backstepping Sliding Mode Control Strategy

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Moon Gyeang Cho ◽  
Useok Jung ◽  
Jun-Young An ◽  
Yoo-Seung Choi ◽  
Chang-Joo Kim
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Sliding Mode ◽  
Control Design ◽  
Backstepping Control ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Backstepping Sliding Mode Control

This paper investigates the adaptive incremental backstepping sliding mode control for the rotorcraft trajectory-tracking control problem to enhance the robustness to the matched uncertainty in the model. First, the incremental dynamics is used for the control design to exclude the adverse effect of the mismatched model uncertainties on the trajectory-tracking performance. Secondly, the sliding-mode control strategy is adopted in the second design stage of the backstepping controller, and the effect of switching gains on the controller robustness is thoroughly studied using the rotorcraft model with different levels of the matched uncertainties. To clarify the robustness enhancement using the adaptive selection of switching gains, this paper chooses three different control structures consisting of the traditional backstepping control and two backstepping sliding mode controls with the fixed or adaptively adjusted switching gains. These control designs are applied to the trajectory-tracking control for the helical-turn maneuver of the Bo-105 helicopter to compare their relative robustness to the matched uncertainties. The results prove that adaptive incremental backstepping sliding mode control shows much higher robustness than other two designs, and the controller even with the fixed switching gains can be used to improve the robustness of the pure backstepping control design. Therefore, the present adaptive incremental backstepping sliding mode control is effectively applicable with the rotorcraft model which typically contains many different sources of both matched and mismatched uncertainties.

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