Adaptive-Sliding Mode Trajectory Control of Robot Manipulators with Uncertainties

Mustafa M. Mustafa; Ibrahim Hamarash; Carl D. Crane

doi:10.21271/ZJPAS.32.4.3

Authors

Mustafa M. Mustafa Department of Electrical Engineering, College of Engineering, Salahaddin University-Erbil, Kurdistan Region, Iraq
Ibrahim Hamarash 1Department of Electrical Engineering, College of Engineering, Salahaddin University-Erbil, Kurdistan Region, Iraq 2Department of Computer Science and Engineering, University of Kurdistan Hewler, Iraq
Carl D. Crane Department of Mechanical and Aerospace Engineering, University of Florida, FL, USA

DOI:

https://doi.org/10.21271/ZJPAS.32.4.3

Keywords:

Nonlinear Control, Uncertainty, Robot Manipulator.

Abstract

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work we seek a controller that is, robust to the uncertainty and disturbance, accurate, and implementable. To perform these requirements, we use a nonlinear Lyapunov-based approach for designing the controller and guaranteeing its stability. MATLAB-SIMULINK software is used to validate the approach and demonstrate the performance of the controller. Simulation results show that the derived controller is stable, robust to the disturbance and uncertainties, accurate, and implementable.

References

Cai, Z., de Queiroz, M. S. and Dawson, D. M. (2006) ‘Robust adaptive asymptotic tracking of nonlinear systems with additive disturbance’, IEEE Transactions on Automatic Control. IEEE, 51(3), pp. 524–529.

Craig, J. J., Hsu, P. and Sastry, S. S. (1987) ‘Adaptive control of mechanical manipulators’, The International Journal of Robotics Research. Sage Publications Sage UK: London, England, 6(2), pp. 16–28.

Crane III, C. D. and Duffy, J. (2008) Kinematic analysis of robot manipulators. Cambridge University Press.

Dawson, D. M. et al. (1990) ‘Robust control for the tracking of robot motion’, International Journal of Control. Taylor & Francis, 52(3), pp. 581–595.

Dixon, W. E. et al. (2013) Nonlinear control of engineering systems: a Lyapunov-based approach. Springer Science & Business Media.

Dixon, W. E., Zergeroglu, E. and Dawson, D. M. (2004) ‘Global robust output feedback tracking control of robot manipulators’, Robotica. Cambridge University Press, 22(4), pp. 351–357.

Economou, D. et al. (2000) ‘Robust vibration suppression in flexible payloads carried by robot manipulators using digital filtering of joint trajectories’, in Intl. Symposium on Robotics and Automation, pp. 244–249.

Feliu, V. et al. (2013) ‘A Robust Controller for A 3-DOF Flexible Robot with a Time Variant Payload’, Asian Journal of Control. Wiley Online Library, 15(4), pp. 971–987.

Gao, H. et al. (2018) ‘Neural network control of a two-link flexible robotic manipulator using assumed mode method’, IEEE Transactions on Industrial Informatics. IEEE, 15(2), pp. 755–765.

Hasan, D. S., Crane III, C. and Hamarash, I. I. (2019) ‘Using Inertia Sensors for Orientation Estimation of Robot Manipulators’, ZANCO Journal of Pure and Applied Sciences, 31(s3), pp. 318–323.

Hasan, D. S. and Hamarash, I. (2017) ‘Real time data acquire from multiple Accelerometers and IMU to calculate 3-direction angles and relative orientation’, ZANCO Journal of Pure and Applied Sciences, 29(2).

Hsia, T. C. and Gao, L. S. (1990) ‘Robot manipulator control using decentralized linear time-invariant time-delayed joint controllers’, in Proceedings., IEEE International Conference on Robotics and Automation, pp. 2070–2075.

Hsia, T. C. S., Lasky, T. A. and Guo, Z. (1991) ‘Robust independent joint controller design for industrial robot manipulators’, IEEE transactions on industrial electronics. IEEE, 38(1), pp. 21–25.

Khalil, H. K. (2002) Nonlinear Systems. Prentice Hall.

Mamani, G., Becedas, J. and Feliu, V. (2012) ‘Sliding mode tracking control of a very lightweight single-link flexible robot robust to payload changes and motor friction’, Journal of Vibration and Control. Sage Publications Sage UK: London, England, 18(8), pp. 1141–1155.

Mustafa, M. M., Hamarash, I. and Crane, C. D. (2020) ‘Dedicated Nonlinear Control of Robot Manipulators in the Presence of External Vibration and Uncertain Payload’, Robotics, 9(1). doi: 10.3390/robotics9010002.

Nafia, N. et al. (2018) ‘Robust interval type-2 fuzzy sliding mode control design for robot manipulators’, Robotics. Multidisciplinary Digital Publishing Institute, 7(3), p. 40.

Patre, P. M. et al. (2006) ‘Asymptotic tracking for systems with structured and unstructured uncertainties’, in Proceedings of the 45th IEEE Conference on Decision and Control, pp. 441–446.

Pedroza, N., MacKunis, W. and Golubev, V. (2014) ‘Robust nonlinear regulation of limit cycle oscillations in uavs using synthetic jet actuators’, Robotics. Multidisciplinary Digital Publishing Institute, 3(4), pp. 330–348.

Shao, X. et al. (2018) ‘RISE and disturbance compensation based trajectory tracking control for a quadrotor UAV without velocity measurements’, Aerospace Science and Technology. Elsevier, 74, pp. 145–159.

Slotine, J.-J. E. and Li, W. (1987) ‘On the adaptive control of robot manipulators’, The international journal of robotics research. Sage Publications Sage CA: Thousand Oaks, CA, 6(3), pp. 49–59.

Slotine, J.-J. E., Li, W. and others (1991) Applied nonlinear control. Prentice hall Englewood Cliffs, NJ.

Spong, M. W. (1992) ‘On the robust control of robot manipulators’, IEEE Transactions on automatic control. IEEE, 37(11), pp. 1782–1786.

Su, Z., Xie, M. and Li, C. (2019) ‘RISE based active vibration control for the flexible refueling hose’, Aerospace Science and Technology. Elsevier.