Trajectory Control of Robotic Manipulators: A Comparison Study

2020 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Sliding Mode Control ◽  
Lyapunov Stability ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Trajectory Control ◽  
Design Tool ◽  
Stability Theorem ◽  
Lyapunov Stability Theorem ◽  
Mode Control ◽  
Control Schemes

Abstract In this paper, two different types of model-based trajectory control schemes are designed and compared for the control of robotic manipulators. First, two PD-based control schemes and one sliding-mode control scheme are designed, where Lyapunov stability theorem is used as a mathematical design tool. Then, the performances of the PD-based control schemes are compared to those of the sliding-mode control schemes with realistic computer simulations. The global asymptotic stability and the boundedness of all internal signals of the designed control schemes are shown with Lyapunov stability theorem.

scholarly journals Hybrid PD sliding mode control for robotic manipulators

2021 ◽  
Author(s):  
John M Acob
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
A Priori ◽  
Robotic Manipulators ◽  
Pid Controllers ◽  
Control Law ◽  
Mode Control ◽  
Control Schemes ◽  
Added Benefit ◽  
The Stability

This thesis proposes a new control law for the purpose of providing improved tracking and contouring performance of robotic manipulators. The rationale behind the development of this controller involves the hybridization of existing proportional-derivative (PD) and sliding mode control (SMC) laws. The new control law retains similar ease of implementation as traditional PD/PID controllers with the added benefit of a nonlinear switching component inherent from sliding mode control systems. In addition, it eliminates the need for a priori knowledge of the system dynamics that are required in standard SMC laws. The stability analysis of the proposed control law is conducted through the Lyapunov method. Simulations using linear and nonlinear contours, and under varying dynamic conditions are performed in order to compare its performances to existing control schemes. The proposed hybrid PD-SMC control law is proven to provide good, robust tracking and contouring performance

scholarly journals Sliding Mode Control for the Synchronous Generator

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Yaote Chang ◽  
Chih-Chin Wen
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Synchronous Generator ◽  
Stability Theorem ◽  
Control Technique ◽  
Lyapunov Stability Theorem ◽  
Synchronous Generators ◽  
Nonlinear Controller ◽  
Mode Control ◽  
Rotor Angle

Based on the Lyapunov stability theorem and sliding mode control technique, a design of the nonlinear controller is proposed for the dual-excited and steam-valving control of the synchronous generators with matched and mismatched perturbations in this paper. By using some constant gains designed in the sliding surface function, the perturbations in the power system can be suppressed, and the property of asymptotical stability of the rotor angle and the voltage can be achieved at the same time.

scholarly journals Hybrid PD sliding mode control for robotic manipulators

2021 ◽  
Author(s):  
John M Acob
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
A Priori ◽  
Robotic Manipulators ◽  
Pid Controllers ◽  
Control Law ◽  
Mode Control ◽  
Control Schemes ◽  
Added Benefit ◽  
The Stability

This thesis proposes a new control law for the purpose of providing improved tracking and contouring performance of robotic manipulators. The rationale behind the development of this controller involves the hybridization of existing proportional-derivative (PD) and sliding mode control (SMC) laws. The new control law retains similar ease of implementation as traditional PD/PID controllers with the added benefit of a nonlinear switching component inherent from sliding mode control systems. In addition, it eliminates the need for a priori knowledge of the system dynamics that are required in standard SMC laws. The stability analysis of the proposed control law is conducted through the Lyapunov method. Simulations using linear and nonlinear contours, and under varying dynamic conditions are performed in order to compare its performances to existing control schemes. The proposed hybrid PD-SMC control law is proven to provide good, robust tracking and contouring performance

scholarly journals Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems

2012 ◽  
Vol 2012 ◽  
pp. 1-21 ◽  
Author(s):  
Guo Haigang ◽  
Li Hongxing ◽  
Zhao Weijing ◽  
Song Zhankui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Variable Universe ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Control Schemes ◽  
Equivalent Control ◽  
Fuzzy Sliding Mode

Combining adaptive fuzzy sliding mode control with fuzzy or variable universe fuzzy switching technique, this study develops two novel direct adaptive schemes for a class of MIMO nonlinear systems with uncertainties and external disturbances. The proposed control schemes consist of fuzzy equivalent control terms, fuzzy switching control terms (in scheme one) or variable universe fuzzy switching control terms (in scheme two), and compensation control terms. The compensation control terms are used to relax the assumption on fuzzy approximation error. Based on Lyapunov stability theory, the parameters update laws are adaptively tuned online and the global asymptotic stability of the closed-loop system can be guaranteed. The major contribution of this study is to develop a novel framework for designing direct adaptive fuzzy sliding mode control scheme facing model uncertainties and external disturbances. The derived schemes can effectively solve the chattering problem and the equivalent control calculation in that environment. Simulation results performed on a two-link robotic manipulator demonstrate the feasibility of the proposed control schemes.

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