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TECHNICAL PAPERS

Sliding Mode Control of a Three Degrees of Freedom Anthropoid Robot by Driving the Controller Parameters to an Equivalent Regime

[+] Author and Article Information
M. Onder Efe, Okyay Kaynak

Electrical and Electronic Engineering Department, Bogazici University, Bebek, 80815, Istanbul, Turkey

Xinghuo Yu

Faculty of Informatics and Communication, Central Queensland University, Rockhampton QLD 4702, Australiae-mail: X.Yu@cqu.edu.au

J. Dyn. Sys., Meas., Control 122(4), 632-640 (Feb 11, 2000) (9 pages) doi:10.1115/1.1318353 History: Received February 11, 2000
Copyright © 2000 by ASME
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References

Emelyanov, S. V., 1967, Variable Structure Control Systems, Moscow, Nauka.
Erbatur,  K., Kaynak,  O., Sabanovic,  A., and Rudas,  I., 1996, “Fuzzy Adaptive Sliding Mode Control of a Direct Drive Robot,” Rob. Auton. Syst., 19, No. 2, pp. 215–227.
Byungkook,  Y., and Ham,  W., 1998, “Adaptive Fuzzy Sliding Mode Control of Nonlinear Systems,” IEEE Trans. Fuzzy Syst., 6, No. 2, pp. 315–321.
Ertugrul,  M., and Kaynak,  O., 2000, “Neuro Sliding Mode Control of Robotic Manipulators,” Mechatronics, 10, Nos. 1–2, pp. 243–267.
Ertugrul, M., and Kaynak, O., 1998, “Neural Computation of the Equivalent Control in Sliding Mode For Robot Trajectory Control Applications,” Proc. of the 1998 IEEE Int. Conf. on Robotics and Automation, Leuven, Belgium, pp. 2042–2047.
Hung,  J. Y., Gao,  W., and Hung,  J. C., 1993, “Variable Structure Control: A Survey,” IEEE Trans. Ind. Electron., 40, No. 1, pp. 2–22.
Gao,  W., and Hung,  J. C., 1993, “Variable Structure Control of Nonlinear Systems: A New Approach,” IEEE Trans. Ind. Electron., 40, No. 1, pp. 45–55.
Kaynak,  O., Harashima,  F., and Hashimoto,  H., 1984, “Variable Structure Systems Theory, as Applied to Sub-time Optimal Position Control with an Invariant Trajectory,” Trans. IEE Jpn. Sec. E, 104, Nos. 3/4, pp. 47–52.
Bekiroglu, N., 1996, “Adaptive Sliding Surface Design for Sliding Mode Control Systems,” Ph.D. thesis, Bogazici University, Istanbul.
Young,  K. D., Utkin,  V. I., and Ozguner,  U., 1999, “A Control Engineer’s Guide to Sliding Mode Control,” IEEE Trans. Control Syst. Technol., 7, No. 3, pp. 328–342.
Kaynak,  O., and Denker,  A., 1993, “Discrete-Time Sliding Mode Control in the Presence of System Uncertainty,” Int. J. Control, 57, No. 5, pp. 1177–1189.
Efe, M. O., and Kaynak, O., “A Novel Optimization Procedure for Training of Fuzzy Inference Systems By Combining Variable Structure Systems Technique and Levenberg-Marquardt Algorithm,” Fuzzy Sets Syst. (accepted for publication).
Efe,  M. O., and Kaynak,  O., 2000, “Stabilizing and Robustifying the Learning Mechanisms of Artificial Neural Networks in Control Engineering Applications,” Int. J. Intell. Syst.,15, No. 5, pp. 365–388.
Efe,  M. O., Kaynak,  O., and Wilamowski,  B. M., 2000, “Stable Training of Computationally Intelligent Systems By Using Variable Structure Systems Technique,” IEEE Trans. Ind. Electron., 47, No. 2, pp. 487–496.
Sira-Ramirez,  H., and Colina-Morles,  E., 1995, “A Sliding Mode Strategy for Adaptive Learning in Adalines,” IEEE Trans. Circuits Syst., I: Fundam. Theory Appl., 42, No. 12, pp. 1001–1012.
Yu,  X., Zhihong,  M., and Rahman,  S. M. M., 1998, “Adaptive Sliding Mode Approach for Learning in a Feedforward Neural Network,” Neural Comput. Appl.,7, pp. 289–294.
Slotine, J.-J. E., and Li, W., 1991, Applied Nonlinear Control, Prentice-Hall, Englewood Cliffs, NJ.
Erbatur, K., Vinter, R. B., and Kaynak, O., 1994, “Feedback Linearization Control for a 3-DOF Flexible Joint Elbow Manipulator,” Proc. 1994 IEEE Int. Conference on Robotics and Automation, Vol. 4, pp. 2979–2984, San Diego.
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Figures

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Structure of the ADALINE controller
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Architecture of the control system
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Signs of sp and sc on different sides of sp=0 line
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Sets of possible four cases
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The family of lines formed as the value of sp varies
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The relation Ψ performs a mapping between two horizontal axes shown
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Physical structure of the manipulator
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Reference state trajectories
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Motion in the phase plane for each link
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Time behavior of the lyapunov function in (38) for each link
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Evaluated and applied torque inputs
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Behavior of the parameters of the base link controller
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Behavior of the parameters of the shoulder link controller
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Behavior of the parameters of the elbow link controller

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