Adaptive Sliding Mode Control for Robotic Manipulators with Unknown Friction and Unknown Control Direction: A Recent Study

2021 ◽  
pp. 1-18
Author(s):  
Seung Hun Han ◽  
Manh Son Tran ◽  
Duc Thien Tran
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Unknown Control ◽  
Unknown Control Direction ◽  
Control Direction

scholarly journals Adaptive Sliding Mode Control for a Robotic Manipulator with Unknown Friction and Unknown Control Direction

2021 ◽  
Vol 11 (9) ◽  
pp. 3919
Author(s):  
Seung-Hun Han ◽  
Manh Son Tran ◽  
Duc-Thien Tran
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Nussbaum Function ◽  
Unknown Control ◽  
Unknown Control Direction ◽  
Control Direction

This paper is aimed at addressing the tracking control issue for an n-DOF manipulator regardless of unknown friction and unknown control direction. In order to handle the above issues, an adaptive sliding mode control (ASMC) is developed with a Nussbaum function. The sliding mode control (SMC) in the proposed control guarantees the tracking problem and fast responses for the manipulator. Additionally, there are adaptive laws for the robust gain in the SMC to deal with the unknown external disturbance and reduce the chattering effect in the system. In practice, the mistakes in the connection between actuators and drivers, named unknown control direction, cause serious damage to the manipulator. To overcome this issue, the Nussbaum function is multiplied by the ASMC law. A Lyapunov approach is investigated to analyze the stability and robustness of the whole system. Finally, several simulations are implemented on a 3-DOF manipulator and their results are compared with those of the existing controllers to validate the advantages of the proposed method.

Sliding Mode Control for Systems with Unknown Control Direction 1

2001 ◽  
Vol 34 (14) ◽  
pp. 309-314
Author(s):  
Giorgio Bartolini ◽  
Antonella Ferrara ◽  
Luisa Giacomini
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Unknown Control ◽  
Unknown Control Direction ◽  
Control Direction

scholarly journals Adaptive Sliding Mode Control of Uncertain High-Order Nonholonomic Systems with Unknown Control Coefficients

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Yan Zhao
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Nonholonomic Systems ◽  
High Order ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Unknown Control Coefficients ◽  
Unknown Control ◽  
Control Coefficients

This paper investigates the global stabilization problem for a class of high-order nonholonomic systems with unknown control coefficients and uncertain nonlinearities. An adaptive sliding mode control (SMC) law based on a constructive manipulation is proposed by adding a power integrator technique. A switching control strategy is employed in the control scheme to overcome the uncontrollability problem associated with the nonholonomic systems. The designed sliding mode controller could guarantee the attractiveness of the sliding surfaceS=0and achieve the asymptotical convergence of the state as well as the boundedness of the estimated parameters. A simulation example is provided to demonstrate the effectiveness of the proposed scheme.

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