Real-Time Implementation of Sliding Mode Control Technique for Two-DOF Industrial Robotic Arm

Abstract

This study presents a real-time implementation of the angle trajectory tracking control for the two

DOF industrial robotic manipulators. For real-time trajectory tracking control, the classical proportional–integral–

derivative (PID) control and the nonlinear Sliding Mode Control techniques have been considered. The SMC

technique takes into account the complete dynamic model of the two DOF robot to increase the trajectory tracking

performance of the manipulator. The experimental results demonstrate that the nonlinear SMC method has improved

the trajectory tracking performance compared with the PID method.

Keywords

• PID control,robot control,sliding mode control,trajectory control

İki Serbestlik Derecesine Sahip Endüstriyel Bir Robotun Kayan Kipli Kontrol Yöntemi ile Kontrolünün Gerçek Zamanlı Uygulaması

Abstract

Bu çalışmada, iki serbestlik derecesine sahip bir endüstriyel robot kolunun analizi, tasarımı ve gerçek

zamanlı açısal yörünge takip kontrolü gerçekleştirilmiştir. Sistemin tanımlanan yörüngeyi en iyi doğrulukta takip

edebilmesi için klasik oransal-integral-türev denetleyicisi (PID) ile doğrusal olmayan Kayan Kipli Kontrol (SMC)

yöntemlerinden yararlanılmıştır. Doğrusal olmayan Kayan Kipli Kontrol tekniği, robotun tam dinamik modelini

göz önüne aldığından dolayı, manipülatörün yörünge izleme performansını arttırabilmektedir. Önerilen sistem için

iki farklı kontrol yöntemi gerçek zamanlı olarak uygulanmıştır. Yapılan gerçek zamanlı yörünge izleme performans

deneylerinden elde edilen sonuçlara göre, Kayan Kipli Kontrol yönteminin sistemdeki belirsizliklere ve bozucu

etkilere karşı gürbüz bir kontrol yöntemi olmasından dolayı bu kontrol tekniğinin klasik bir PID denetleyicisine

göre, robotik manipülatörün yörünge izleme performansını arttırdığı kanıtlanmıştır.

Keywords

• Kayan kipli kontrol,PID kontrol,robot kontrol,yörünge kontrol

References

1. Baek J, Jin M. and Han S, 2016. A new adaptive sliding-mode control scheme for application to robot manipulators, IEEE Transactions on Industrial Electronics, 63(6) 3628-3637.
2. Capisani L. M. and Ferrara A, 2012. Trajectory planning and second-order sliding mode motion/interaction control for robot manipulators in unknown environments, IEEE Transactions on Industrial Electronics, 59(8) 3189-3198.
3. Chu Z, Cui J. and Sun F, 2014. Fuzzy adaptive disturbance-observer-based robust tracking control of electrically driven free-floating space manipulator. IEEE Systems Journal, 8(2): 343-352.
4. Dasgupta B, Gupta A. and Singla E, 2009. A variational approach to path planning for hyper-redundant manipulators. Robotics and Autonomous Systems, 57(2): 194–201.
5. Edwards A, Spurgeon S, 1998. Sliding Mode Control: Theory and Applications. Taylor and Francis, London.
6. Efe M. Ö, 2008. Fractional fuzzy adaptive sliding-mode control of a 2-dof direct-drive robot arm. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 38(6): 1561-1570.
7. Zhang F, 2017. High-speed nonsingular terminal switched sliding mode control of robot manipulators. IEEE/CAA Journal of Automatica Sinica, 4(4): 775-781.
8. Lee J, Chang P. H. and Jin M, 2017, Adaptive integral sliding mode control with time-delay estimation for robot manipulators,IEEE Transactions on Industrial Electronics, 64(8) 6796-6804.

9. Li S, Zhang Y. and Jin L, 2017. Kinematic control of redundant manipulators using neural networks. IEEE Transactions on Neural Networks and Learning Systems, 28(10): 2243-2254.
10. Li Z, Yang C. and Tang Y, 2013. Decentralised adaptive fuzzy control of coordinated multiple mobile manipulators interacting with non-rigid environments. IET Control Theory & Applications, 7(3): 397-410.
11. Makarov M, Grossard M, Rodríguez-Ayerbe P. and Dumur D, 2016. Modeling and preview h_infty control design for motion control of elastic-joint robots with uncertainties. IEEE Transactions on Industrial Electronics, 63(10): 6429-6438.
12. Monje C. A, Ramos F, Feliu V. and Vinagre B. M, 2007. Tip position control of a lightweight flexible manipulator using a fractional order controller. IET Control Theory & Applications, 1(5): 1451-1460.
13. Nikdel N, Badamchizadeh M, Azimirad V. and Nazari M. A, 2016. Fractional-order adaptive backstepping control of robotic manipulators in the presence of model uncertainties and external disturbances. IEEE Transactions on Industrial Electronics, 63(10): 6249-6256.
14. Slotine J.J E, Li W, 1991. Applied Nonlinear Control. Prentice-Hall, New Jersey.
15. Utkin V, 1977. Variable structure systems with sliding modes. IEEE Trans. Autom. Control 22(2): 212–222.
16. Van M, Ge S. S and Ren H, 2017, Finite time fault tolerant control for robot manipulators using time delay estimation and continuous nonsingular fast terminal sliding mode control,IEEE Transactions on Cybernetics, 47(7) 1681-1693.
17. Zhang Y, Chen S, Li S. and Zhang Z, 2018. Adaptive projection neural network for kinematic control of redundant manipulators with unknown physical parameters. IEEE Transactions on Industrial Electronics, 65(6): 4909-4920.