Robust sliding mode control for robot manipulators

IEEE Transactions on Industrial Electronics

Volumn 58, Issue 6, 2011, Pages 2444-2453

  Islam, Shafiqul ^a   Liu, Xiaoping P ^a  

^a CARLETON UNIVERSITY   (Canada)

Author keywords

Adaptive control; output feedback; robotics; robust control

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE SLIDING MODE CONTROL; BEST ESTIMATES; CANDIDATE MODELS; COMPACT SETS; COMPACT SUBSETS; FINITE NUMBER; FINITE SET; HIGH GAIN; INPUT AND OUTPUTS; MULTIPLE MODELS; OUTPUT FEEDBACK; PARAMETER ESTIMATE; PARAMETRIC UNCERTAINTIES; PRACTICAL PROBLEMS; ROBOT MANIPULATOR; ROBUST SLIDING MODE; THEORETICAL DEVELOPMENT; TRACKING PERFORMANCE; UNKNOWN PARAMETERS; UNMODELED DYNAMICS;

DESIGN; FLEXIBLE MANIPULATORS; IDENTIFICATION (CONTROL SYSTEMS); INDUSTRIAL ROBOTS; LYAPUNOV FUNCTIONS; MODULAR ROBOTS; PARAMETER ESTIMATION; ROBOT APPLICATIONS; ROBUST CONTROL; SLIDING MODE CONTROL;

CONTROLLERS;

EID: 79956272222     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2010.2062472     Document Type: Article

References (46)

1. A. Rojko and K. Jezernik, "Sliding-mode motion controller with adaptive fuzzy disturbance estimation," IEEE Trans. Ind. Electron., vol. 51, no. 5, pp. 963-971, Oct. 2004.
2. A. S. Morse, "Supervisory control of families of linear set-point controllers-Part I," IEEE Trans. Autom. Control, vol. 41, no. 10, pp. 1413-1431, Oct. 1996. (Pubitemid 126774213)
3. A. Tayebi and S. Islam, "Experimental evaluation of an adaptive iterative learning control scheme on a 5-DOF robot manipulators," in Proc. IEEE Int. Conf. Control Appl., Taipei, Taiwan, Sep. 2-4, 2004, pp. 1007-1011. (Pubitemid 40574925)
4. A. Tayebi and S. Islam, "Adaptive iterative learning control for robot manipulators: Experimental results," Control Eng. Pract., vol. 14, no. 7, pp. 843-851, Jul. 2006. (Pubitemid 43337778)
5. A. V. Topalov and O. Kaynak, "On line learning in adaptive neurocontrol for compliance tasks of robotic manipulators," IEEE Trans. Syst., Man, Cybern., vol. 31, no. 3, pp. 445-450, Jun. 2001.
6. C. Canudas DeWit and N. Fixot, "Adaptive control of robot manipulators via velocity estimated feedback," IEEE Trans. Autom. Control, vol. 37, no. 8, pp. 1234-1237, Aug. 1992.
7. H. Schwartz and S. Islam, "An evaluation of adaptive robot control via velocity estimated feedback," in Proc. Int. Conf. Control Appl., Montreal, QC, Canada, May 30-Jun. 1, 2007, pp. 325-333.
8. C. Hua, X. Guan, and G. Duan, "Variable structure adaptive fuzzy control for a class of nonlinear time delay systems," Fuzzy Sets Syst., vol. 148, no. 3, pp. 453-468, Dec. 2004.
9. C.-J. Lin, "Variable structure model following control of robot manipulators with high-gain observer," JSME Int. J. Ser. C, vol. 47, no. 2, pp. 591- 600, 2004.
10. C. Y. Su, T. P. Leung, and Q. J. Zhou, "A novel variable structure control scheme for robot trajectory control," in Proc. IFAC Triennial World Congr., 1990, vol. 5, pp. 117-120.
11. D. Angeli and E. Mosca, "Lyapunov-based switching supervisory control of nonlinear uncertain systems," IEEE Trans. Autom. Control, vol. 47, no. 3, pp. 500-505, Mar. 2002. (Pubitemid 34531056)
12. E. S. Shin and K. W. Lee, "Robust output feedback control of robot manipulators using high-gain observer," in Proc. IEEE Int. Conf. Control Appl., 1999, pp. 881-886. (Pubitemid 30515867)
13. H. Asada and J. J. Slotine, Robot Analysis and Control. New York: Wiley, 1986.
14. H. Hashimoto, K. Maruyama, and F. Harashima, "A microprocessor-based robot manipulator control with sliding mode," IEEE Trans. Ind. Electron., vol. IE-34, no. 1, pp. 11-18, Feb. 1987.
15. B. Bandyopadhyay, P. S. Gandhi, and S. Kurode, "Sliding mode observer based sliding mode controller for slosh-free motion through PID scheme," IEEE Trans. Ind. Electron., vol. 56, no. 9, pp. 3432-3442, Sep. 2009.
16. K. C. Veluvolu and Y. C. Soh, "High-gain observers with sliding mode for state and unknown input estimations," IEEE Trans. Ind. Electron., vol. 56, no. 9, pp. 3386-3393, Sep. 2009.
17. J. M. A.-D. Silva, C. Edwards, and S. K. Spurgeon, "Sliding-mode outputfeedback control based on LMIs for plants with mismatched uncertainties," IEEE Trans. Ind. Electron., vol. 56, no. 9, pp. 3675-3683, Sep. 2009.
18. C. Lascu, I. Boldea, and F. Blaabjerg, "A class of speed-sensorless slidingmode observers for high-performance induction motor drives," IEEE Trans. Ind. Electron., vol. 56, no. 9, pp. 3394-3403, Sep. 2009.
19. J. J. E. Slotine and S. S. Sastry, "Tracking control of nonlinear system using sliding surface, with application to robot manipulators," Int. J. Control, vol. 38, no. 2, pp. 465-492, Aug. 1983. (Pubitemid 13588612)
20. J. Y. Hung,W. Gao, and J. C. Hung, "Variable structure control: A survey," IEEE Trans. Ind. Electron., vol. 40, no. 1, pp. 2-22, Feb. 1993.
21. K. D. Young, "Controller design for robot a manipulator using theory of variable structure control," IEEE Trans. Syst., Man, Cybern., vol. SMC-8, no. 2, pp. 101-109, Feb. 1978.
22. K. Erbatur, O. Kaynak, and A. Sabanovic, "A study on robustness property of sliding mode controllers: A novel design and experimental investigations," IEEE Trans. Ind. Electron., vol. 46, no. 5, pp. 1012-1018, Oct. 1999. (Pubitemid 30524495)
23. K. Erbatur, O. Kaynak, and A. Sabanovic, "Robust control of a direct drive manipulator," in Proc. IEEE ISIC/CIRA/ASAS Joint Conf., Gaithersburg, MD, Sep. 14-17, 1998, pp. 108-113.
24. K. J. Astrom and B. Wittenmark, Adaptive Control, 2nd ed. Reading, MA: Addison-Wesley, 1995.
25. X. R. Han, E. Fridman, S. K. Spurgeon, and C. Edwards, "On the design of sliding-mode static-output-feedback controllers for systems with state delay," IEEE Trans. Ind. Electron., vol. 56, no. 9, pp. 3656-3664, Sep. 2009.
26. L. C. Fu and T. L. Liao, "Globally stable robust tracking of nonlinear system using variable structure control and application to a robot manipulator," IEEE Trans. Autom. Control, vol. 35, no. 12, pp. 1345-1350, Dec. 1990.
27. M. Akar, "Robust tracking for a class of nonlinear systems using multiple models and switching," in Proc. Amer. Control Conf., Portland, OR, 2005, pp. 4056-4061. (Pubitemid 41188884)
28. M. Erlic and W. Lu, "A reduced-order adaptive velocity observer for manipulator control," IEEE Trans. Robot. Autom., vol. 11, no. 2, pp. 293- 303, Apr. 1995.
29. M. L. Corradini, T. Leo, and G. Orlando, "Robust stabilization of a class of nonlinear systems via multiple model sliding mode control," in Proc. Amer. Control Conf., Chicago, IL, Jun. 2000, pp. 631-635. (Pubitemid 32028631)
30. M. L. Corradini and G. Orlando, "Transient improvement of variable structure controlled systems via multimodel switching control," Trans. ASME, J. Dyn. Syst. Meas. Control, vol. 124, no. 2, pp. 321-326, Jun. 2002. (Pubitemid 40001329)
31. T. M. R. Akbarzadeh and R. Shahnazi, "Direct adaptive fuzzy PI sliding mode control for a class of uncertain nonlinear systems," in Proc. IEEE Int. Conf. Syst., Man, Cybern., 2005, vol. 3, pp. 2548-2553. (Pubitemid 41674770)
32. M. S. Branicky, "Multiple Lyapunov functions and other analysis tools for switched and hybrid systems," IEEE Trans. Autom. Control, vol. 43, no. 4, pp. 475-482, Apr. 1998. (Pubitemid 128737371)
33. M. S. De Queiroz, J. Hu, D. Dawson, T. Burg, and S. Donepudi, "Adaptive position/force control of robot manipulators without velocity measurements: Theory and experimentation," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 27, no. 5, pp. 796-809, Sep. 1997. (Pubitemid 127770675)
34. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control. New York: Wiley, 1989.
35. P. R. Pagilla and M. Tomizuka, "An adaptive output feedback controller for robot arms: Stability and experiments," Automatica, vol. 37, no. 7, pp. 983-995, Jul. 2001. (Pubitemid 32498982)
36. Q.-H. Meng and W.-S. Lu, "A unified approach to stable adaptive force/position control of robot manipulators," in Proc. Amer. Control Conf., Jun. 1994, pp. 200-201.
37. R. Martinez and J. Alvarez, "Hybrid sliding-mode-based control of underactuated system with dry friction," IEEE Trans. Ind. Electron., vol. 55, no. 11, pp. 3998-4003, Nov. 2008.
38. S. Islam, "Adaptive output feedback for robot manipulators using linear observer," in Proc. Int. Conf. Intell. Syst. Control, Orlando, FL, Nov. 16-18, 2008, pp. 38-43.
39. S. Lim, D. Dawson, and K. Anderson, "Re-examining the Nicosia-Tomei robot observer-controller from a backstepping perspective," IEEE Trans. Control Syst. Technol., vol. 4, no. 3, pp. 304-310, May 1996. (Pubitemid 126782415)
40. S. Nicosia and P. Tomei, "Robot control by using only joint position measurements," IEEE Trans. Autom. Control, vol. 35, no. 9, pp. 1058- 1061, Sep. 1990.
41. V. I. Utkin, "Variable structure systems with sliding mode," IEEE Trans. Autom. Control, vol. AC-22, no. 2, pp. 212-222, Apr. 1977.
42. W. Chen and M. Saif, "Output feedback controller design for a class of MIMO nonlinear systems using high-order sliding-mode differentiators with application to a laboratory 3-D crane," IEEE Trans. Ind. Electron., vol. 55, no. 11, pp. 3985-3997, Nov. 2008.
43. W. E. Dixon, M. S. Queiroz, F. Zhang, and D. M. Dawson, "Tracking control of robot manipulators with bounded torque inputs," Robotica, vol. 17, no. 2, pp. 121-129, Mar. 1999.
44. W.-S. Lu and Q.-H. Meng, "Regressor formulation of robot dynamics: Computation and applications," IEEE Trans. Robot. Autom., vol. 9, no. 3, pp. 323-333, Jun. 1993.
45. X.-G. Yan and C. Edwards, "Adaptive sliding-mode-observer-based fault reconstruction for nonlinear systems with parametric uncertainties," IEEE Trans. Ind. Electron., vol. 55, no. 11, pp. 4029-4036, Nov. 2008.
46. J.-B. Pomet and L. Praly, "Adaptive nonlinear regulation estimation from the Lyapunov equation," IEEE Trans. Autom. Control, vol. 37, no. 6, pp. 729-740, Jun. 1992.