0
TECHNICAL PAPERS

A Gain Scheduled Sliding Mode Control Scheme Using Filtering Techniques With Applications to Multilink Robotic Manipulators

[+] Author and Article Information
Jian-Xin Xu, Ya-Jun Pan, Tong-Heng Lee

Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260

J. Dyn. Sys., Meas., Control 122(4), 641-649 (Feb 21, 2000) (9 pages) doi:10.1115/1.1318352 History: Received February 21, 2000
Copyright © 2000 by ASME
Your Session has timed out. Please sign back in to continue.

References

Utkin, V. I., 1978, Sliding Modes and Their Application to Variable Structure Systems, MIR Publishers, Moscow, pp. 41–77.
Zinober, A. S. I. (Editor), 1994, Lecture Notes in Control and Information Sciences, Variable Structure and Lyapunov Control, Springer-Verlag, London.
Edwards,  C., and Spurgeon,  S. K., 1996, “Robust Output Tracking Using a Sliding Mode Controller/Observer,” Int. J. Control, 64, No. 5, pp. 967–983.
Young,  K. D., Utkin,  V. I., and Ozguner,  U., 1999, “A Control Engineer’s Guide to Sliding Mode Control,” IEEE Transactions on Control Systems Technology, 7, No. 3, pp. 328–342.
Utkin,  V. I., 1977, “Variable Structure Systems with Sliding Modes,” IEEE Trans. Autom. Control, 22, pp. 212–222.
Chern,  T. L., and Wu,  Y. C., 1992, “Integral Variable Structure Control Approach for Robot Manipulators,” IEE Prod. Control Theory Appl., 139, No. 2, pp. 161–166.
Shyu,  K. K., Tasi,  Y. W., and Yung,  C. F., 1992, “A Modified Variable Structure Controller,” Automatica, 28, No. 6, pp. 1209–1213.
Kachroo,  P., and Tomizuka,  M., 1996, “Chattering Reduction and Error Convergence in the Sliding Mode Control of a Class of Nonlinear Systems,” IEEE Trans. Autom. Control, 41, No. 7, pp. 1063–1068.
Xu,  J. X., Lee,  T. H., and Wang,  M., 1998, “Self-Tuning Type Variable Structure Control Method for Nonlinear Systems,” Int. J. Robust Nonlinear Control, 8, No. 13, pp. 1133–1153.
Chien, C. J., and Fu, L. C., 1999, Adaptive Variable Structure Control, Newnes, Oxford, pp. 41–62.
Bartolini,  G., and Ferrara,  A., 1999, “On the Parameter Convergence Properties of a Combined vs/Adaptive Control Scheme During Sliding Motion,” IEEE Trans. Autom. Control, 44, No. 1, pp. 70–76.
Chan,  S. P., 1995, “Robust Sliding Mode Control of Robot Manipulators Using Internal Model,” Int. J. Robot. Autom., 10, No. 2, pp. 63–69.
Pandian,  S. R., and Hanmandlu,  M., 1995, “Model-Based Sliding Mode Controller for Robot Manipulators,” Int. J. Robot. Autom., 10, No. 1, pp. 29–34.
Tzafestas,  S., Raibert,  M., and Tzafestas,  C., 1996, “Robust Sliding-Mode Control Applied to a 5-Link Biped Robot,” J. Intell. Robot. Syst., 15, No. 1, pp. 67–133.
Habibi,  S. R., 1999, “Sliding Mode Control of a Hydraulic Industrial Robot,” ASME J. Dyn. Syst., Meas., Control, 121, No. 2, pp. 312–318.
Sadegh,  N., and Horowitz,  R., 1990, “Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators,” Int. J. Robot. Res., 9, No. 3, pp. 74–92.
Liao,  T. L., Fu,  L. C., and Hsu,  C. F., 1990, “Adaptive Robust Tracking of Nonlinear Systems and with an Application to a Robotic Manipulator,” Syst. Control Lett., 15, pp. 339–348.
Fu,  L. C., 1992, “Robust Adaptive Decentralized Control of Robotic Manipulators,” IEEE Trans. Autom. Control, 37, pp. 106–110.
Yao,  B., Chan,  S. P., and Wang,  D., 1994, “Variable Structure Adaptive Motion and Force Control of Robot Manipulators,” Automatica, 30, No. 9, pp. 1473–1477.
Parra-Vega,  V., and Arimoto,  S., 1995, “Exponentially Convergent Adaptive Sliding Mode Control of Robot Manipulators,” Int. J. Syst. Sci., 26, No. 12, pp. 2263–2276.
Tsaprounis,  C. J., and Aspragathos,  N. A., 1999, “Sliding Mode with Adaptive Estimation Force Control of Robot Manipulators Interacting with an Unknown Passive Environment,” Robotica, 17, No. 4, pp. 447–458.
Zhihong,  M., O’Day,  M., and Yu,  X., 1999, “Robust Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators,” J. Intell. Robot. Syst., 24, No. 1, pp. 23–41.
Oh,  S. R., Bien,  Z., and Suh,  I. H., 1988, “An Iterative Learning Control Method with Application to Robot Manipulators,” IEEE Trans. Rob. Autom., 4, No. 5, pp. 508–514.
Kuc,  T. Y., Lee,  J. S., and Nam,  K., 1992, “Iterative Learning Control Theory for a Class of Nonlinear Dynamic Systems,” Automatica, 28, No. 6, pp. 1215–1221.
Xu, J. X., Viswanthan, B., and Qu, Z. H., 2000, “Robust Learning Control for Robotic Manipulators with an Extension to a Class of Nonlinear Systems,” Int. J. Control, to appear.
Slotine, J. J. E., and Li, W. P., 1991, Applied Nonlinear Control, Prentice-Hall, Englewood Cliffs, New Jersey.

Figures

Grahic Jump Location
The schematic diagram of gain scheduled SMC
Grahic Jump Location
The variation of the disturbance and switching surface
Grahic Jump Location
Tracking error profiles of the conventional SMC: (a) global view; (b) zoomed view
Grahic Jump Location
Control signal profiles of the conventional SMC: (a) torque u1; (b) torque u2
Grahic Jump Location
Control signal and tracking error profiles of the SMC with saturation function φ12=0.5: (a) torque u1; (b) torque u2; (c) tracking errors e1 and e2; (d) zoomed e1 and e2 near the equilibrium
Grahic Jump Location
Control signal and tracking error profiles of the SMC with saturation function φ12=0.05: (a) torque u1; (b) torque u2; (c) tracking errors e1 and e2; (d) zoomed e1 and e2 near the equilibrium
Grahic Jump Location
Control signal profiles u and filtered control profiles uv: (a) torque u1; (b) torque u2; (c) filtered control uv1; (d) filtered control uv2
Grahic Jump Location
(a) Scheduled switching gains; (b) zoomed gain profiles near the equilibrium
Grahic Jump Location
(a) Tracking errors e1 and e2; (b) zoomed e1 and e2 near the equilibrium; (c) switching surface σ1; (d) switching surface σ2
Grahic Jump Location
The evolution of switching surfaces and gains with respect to disturbance surging: (a) switching surface σ1; (b) switching surface σ2; (c) gain k1(t); (d) gain k2(t)

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In