Design of Adaptive Sliding Mode Controller for Robotic Manipulators Tracking Control

Authors: T. C. Kuo, Y. J. Huang, B. W. Hong

Abstract:

This paper proposes an adaptive sliding mode controller which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov theorem. Simulation results demonstrate that the chattering of control input can be alleviated effectively. The proposed controller scheme can assure robustness against a large class of uncertainties and achieve good trajectory tracking performance.

Keywords: Robotic manipulators, sliding mode control, adaptive law, Lyapunov theorem, robustness.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1085547

References:

[1] C. Smith and H. Christensen, "Robot manipulators," IEEE Robotics & Automation Magazine, vol. 16, no. 4, pp. 75-83, 2009.
[2] C. S. Chen, "Dynamic structure neural-fuzzy networks for robust adaptive control of robot manipulators," IEEE Transactions on Industrial Electronics, vol. 55, no. 9, pp. 3402-3414, 2008
[3] V. Parra-Vega, S. Arimoto, Y. H. Liu, G. Hirzinger, and P. Akella, "Dynamic sliding PID control for tracking of robot manipulators: theory and experiments," IEEE Transactions on Robotics and Automation, vol. 19, no. 6, pp. 967-976, 2003.
[4] T. H. S. Li and Y. C. Huang, "MIMO adaptive fuzzy terminal sliding mode controller for robotic manipulators," Information Sciences, vol. 180, no. 23, pp. 4641-4660, 2010.
[5] H. F. Ho, Y. K. Wong, and A. B. Rad, "Robust fuzzy tracking control for robotic manipulators," Simulation Modelling Practice and Theory, vol. 15, no. 7, pp. 801-816, 2007.
[6] D. Zhao, S. Li, Q. Zhu, and F. Gao, "Robust finite-time control approach for robotic manipulators," IET Control Theory & Applications, vol. 4, no. 1, pp. 1-15, 2010.
[7] S. Islam and P. X. Liu, "PD output feedback control design for industrial robotic manipulators," IEEE/ASME Transactions on Mechatronics, vol. 16, no. 1, pp. 187-197, 2011.
[8] S. H. Huh and Z. Bien, "Robust sliding mode control of a robot manipulator based on variable structure-model reference adaptive control approach," IET Control Theory & Applications, vol. 1, no. 5, pp. 1355-1363, 2007.
[9] A. Pisano and E. Usai, "Sliding mode control: A survey with applications in math," Mathematics and Computers in Simulation, vol. 81, no. 5, pp. 954-979, 2011.
[10] X. Yu and O.Kaynak, "Sliding mode control with soft computing: A survey," IEEE Transactions on Industrial Electronics, vol. 56, no. 9, pp. 3275-3285, 2009.
[11] V. Utkin, Sliding Mode in Control and Optimization. Berlin, Germany: Springer-Verlag, 1992.
[12] K. D. Young, V. I. Utkin, and U. Ozguner, "A control engineer-s guide to sliding mode control," IEEE Transactions on Control System Technology, vol. 7, no. 3, pp. 328-342, 1999.
[13] Z. Qu and D. M. Dawson, Robust Tracking Control of Robot Manipulators. Piscataway, NJ: IEEE Press, 1996.
[14] Y. J. Huang, T. C. Kuo, S. H. Chang, "Adaptive sliding mode control for nonlinear systems with uncertain parameters," IEEE Transactions on Systems, Man and Cybernetics, Part B, vol. 38, no. 2, pp. 534-539, 2008.
[15] T. C. Kuo, Y. J. Huang, and S. H. Chang, "sliding mode control with self-tuning law for uncertain nonlinear systems," ISA Transactions, vol. 47, no. 2, pp. 171-178, 2008.
[16] M. W. Spong, "On the robust control of robot manipulators," IEEE Transactions on Automatic Control, vol. 37, no. 11, pp. 1782-1786, 1992.