Design of Adaptive Sliding Mode Controller for Robotic Manipulators Tracking Control
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.
[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.
[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.
@article{"International Journal of Information, Control and Computer Sciences:64697", author = "T. C. Kuo and Y. J. Huang and B. W. Hong", title = "Design of Adaptive Sliding Mode Controller for Robotic Manipulators Tracking Control", 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.", volume = "5", number = "5", pages = "539-5", }