A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm

Trajectory tracking with high accuracy is a very challenging topic in direct drive robot control. This is due to the nonlinearities and input couplings present in the dynamics of the arm. This paper deals with the tracking control of a class of direct-drive robot manipulators. A robust Proportional-Integral (PI) sliding mode control law is derived so that the robot trajectory tracks a desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The controller is designed using the decentralized approaches. Application to a two degree of freedom direct drive robot arm is considered

Control of two-wheels inverted pendulum mobile robot using full order sliding mode control

The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade in a number of robotic laboratories around the world This paper deals with the modeling of 2-wheels Inverted Pendulum and the design of Full Order Sliding Mode Control (FOSMC) for the system. The mathematical model of 2-wheels inverted pendulum system that is highly nonlinear is derived. The final model is then represented in state-space form and the system suffers from mismatched condition. A robust controller based on Sliding Mode Control is proposed to perform the robust stabilization and disturbance rejection of the system. A computer simulation study is carried out to access the performance of the proposed control law

Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface

This paper presents the development of a proportional-integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proportional-integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is presented

Application of proportional-integral sliding mode tracking controller to robot manipulators

This paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is considered

A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator

This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of withstanding the expected variations and uncertainties present in the system. The performance of the proposed control law is evaluated by means of computer simulation studies on a 3 DOF revolute DD robot manipulator actuated with BLDCM motors

Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot

In this paper the position and posture control for the wheeled inverse pendulum type mobile robot is discuss base on simulation result of two type of controller. The robot in this consideration has two independent driving wheels in same axis, and the gyro type sensor to know the inclination angular velocity of the body and rotary encoders to know wheels rotation. this paper will discuss the control algorithm to make the robot autonomously navigate in two dimensional plane while keeping balance its pole

PI sliding mode control for mismatched uncertain systems

This paper focused on the proportional-integral sliding mode control for uncertain dynamic systems with mismatch uncertainties. First, the switching surface condition for the sliding mode control is synthesized. Then the control law is designed to drive the state trajectories of the system onto the sliding surface and the system remains in it thereafter. The proposed control law is applied to a numerical example and its performance is compared to the state variable feedback control system design methodolog

Decentralized proportional-integral sliding mode tracking control for A class of nonlinear interconnected uncertain system

A decentralized sliding mode controller for a class of nonlinear interconnected uncertain systems is presented in this paper. It is assumed that the plant to be controlled is represented by interconnected sub-systems and the local dynamics of each sub-system is represented by its nominal and bounded parametric uncertainties. It is also assumed that the interconnection dynamics is also represented in the same manner and it is further assumed that the matching conditions hold for every sub-system. A robust decentralized sliding mode controller is derived such that for each sub-system, the actual trajectory tracks the desired trajectory using only the local states information. The Proportional-Integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Mathematical proof of the proposed controller is presented and the results are verified using a case study

A Local Controller for Discrete-Time Large-Scale System by Using Integral Variable Structure Control

A new local controller for discrete-time integral variable structure control of a large-scale system with matched and unmatched uncertainty is presented. The local controller is able to bring the large-scale system into stability by using only the states feedback from individual subsystem itself. A new theorem is established and proved that the controller is able to handle the effect of interconnection for the large-scale system with matched and unmatched uncertainty, and the system stability is ensured. The controller is able to control the system to achieve the quasi-sliding surface and remains on it. The results showed a fast convergence to the desired value and the attenuation of disturbance is achieved