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The Application of Sliding Mode Control in Robots

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A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Mechanical Engineering".

Deadline for manuscript submissions: closed (30 June 2019) | Viewed by 38350

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Special Issue Editor

Prof. Dr. Spyros G. Tzafestas

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Guest Editor

School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece
Interests: intelligent control; intelligent robotics; intelligent automation; fault detection/diagnosis; roboethics/robophilosophy; infoethics/infophilosophy
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Special Issue Information

Dear Colleagues,

Control of robot systems is a challenging area of robotics. The aim of robot control is to assure proper and stable functioning of robots, under various conditions of their environment, to successfully and accurately perform their intended tasks. Robot systems are multivariable, highly nonlinear systems that are subject to several uncertainties and disturbances. As a result, the design of accurate mathematical models for multi-degree of freedom (DOF) robots is very difficult. To face the above facts, strong research activity, started in the 1960’s, is still ongoing and aims to design robust controllers that guarantee stable and efficient control despite the presence of large modeling uncertainties and external disturbances. Today, there is a large variety of working robots (industrial robots, service robots, social robots, underwater robots, etc.) that perform various complex tasks, for which several control techniques were developed and documented in the literature. The sliding mode control (SMC) is indeed one of the best available methodologies and has been applied with success in many robotic and other automation applications. The aim of this Special Issue of the Applied Sciences Journal is to provide a forum for the presentation of new and recent developments in the SMC methodology as applied to robots. Specifically, the Issue will consider high-quality research and review papers that deal with theoretical and application aspects of sliding mode robot control covering (non-inclusively) the following:

Continuous-and-discrete time robot SMC
Adaptive and predictive robot SMC
Intelligent robot SMC
The chattering effect and sensitivity aspects of SMC
Exponential stability issues of robot SMC
Matched and mismatched uncertainties in SMC
SMC for non-differentiable disturbances
Combination of SMC with optimal filters and estimators
Fuzzy, neural, and neuro-fuzzy robot SMC
Variable structure robot control
The SMC of different types of robots (robot manipulators, telemanipulators, robots with redundant DOFs, parallel robots, co-operating robots, mobile robots, mobile manipulators, humanoid robots, undersea robots, flying robots, social robots, etc.)

Prof. Dr. Spyros G. Tzafestas
Guest Editor

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Keywords

Robust robot control
Sliding-mode robot control
Adaptive/predictive sliding-mode robot control
Control chattering
Matched/unmatched uncertainties
Variable structure robot control
Intelligent sliding-mode robot control
Fuzzy sliding-mode robot control
Neural sliding-mode robot control
Neuro-fuzzy sliding-mode robot control

Published Papers (11 papers)

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Research

19 pages, 2501 KiB

Open AccessArticle

Active Fault-Tolerant Control of a Quadcopter against Time-Varying Actuator Faults and Saturations Using Sliding Mode Backstepping Approach

by Ngoc Phi Nguyen and Sung Kyung Hong

Appl. Sci. 2019, 9(19), 4010; https://doi.org/10.3390/app9194010 - 25 Sep 2019

Cited by 19 | Viewed by 3789

Abstract

Fault-tolerant control is becoming an interesting topic because of its reliability and safety. This paper reports an active fault-tolerant control method for a quadcopter unmanned aerial vehicle (UAV) to handle actuator faults, disturbances, and input constraints. A robust fault diagnosis based on the [...] Read more.

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scheme was designed to estimate the magnitude of a time-varying fault in the presence of disturbances with unknown upper bounds. Once the fault estimation was complete, a fault-tolerant control scheme was proposed for the attitude system, using adaptive sliding mode backstepping control to accommodate the actuator faults, despite actuator saturation limitation and disturbances. The Lyapunov theory was applied to prove the robustness and stability of the closed-loop system under faulty operation. Simulation results show the effectiveness of the fault diagnosis scheme and proposed controller for handling actuator faults. Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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29 pages, 14705 KiB

Open AccessFeature PaperArticle

Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation

by Hoai Vu Anh Truong, Duc Thien Tran, Xuan Dinh To, Kyoung Kwan Ahn and Maolin Jin

Appl. Sci. 2019, 9(16), 3290; https://doi.org/10.3390/app9163290 - 11 Aug 2019

Cited by 40 | Viewed by 4591

Abstract

The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulator. The proposed control combines backstepping sliding mode control, fuzzy logic system (FLS), and a nonlinear disturbance observer. The backstepping sliding mode control includes a sliding mode control for manipulator dynamics and a PI control for actuator dynamics. The fuzzy logic system is utilized to adjust the control gain and robust gain of the sliding mode control (SMC) based on the output of the nonlinear disturbance observer to compensate the payload. The Lyapunov approach and backstepping technique are used to prove the stability and robustness of the whole system. Some simulations are implemented, and the results are compared to other controllers to exhibit the effectiveness of the proposed control. Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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23 pages, 2166 KiB

Open AccessArticle

Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

by Mengmeng Li, Qinglin Wang, Yuan Li and Zhaoguo Jiang

Appl. Sci. 2019, 9(13), 2625; https://doi.org/10.3390/app9132625 - 28 Jun 2019

Cited by 7 | Viewed by 2459

Abstract

Dielectric electro-active polymer (DEAP) materials, also called artificial muscle, are a kind of EAP smart materials with extraordinary strains up to 30% at a high driving voltage. However, the asymmetric rate-dependent hysteresis is a barrier for trajectory tracking control of DEAP actuators. To overcome the barrier, in this paper, a Hammerstein model is established for the asymmetric rate-dependent hysteresis of a DEAP actuator first, in which a modified Prandtl-Ishlinskii (MPI) model is used to represent the static hysteresis nonlinear part, and an autoregressive with exogenous inputs (ARX) model is used to represent the linear dynamic part. Applying Levenberg-Marquardt (LM) algorithm identifies the parameters of the Hammerstein model. Then, based on the MPI model, an inverse hysteresis compensator is obtained to compensate the hysteresis behavior. Finally, a compound controller consisting of the hysteresis compensator and a novel discrete-time terminal sliding mode controller (DTSMC) without state observer is proposed to achieve the high-precision trajectory tracking control. Stability analysis of the closed-loop system is verified by using Lyapunov stability theorem. Experimental results based on a DEAP actuator show that the proposed controller has better tracking control performance compared with a conventional discrete-time sliding mode controller (DSMC). Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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17 pages, 533 KiB

Open AccessArticle

Adaptive Super-Twisting Control for Mobile Wheeled Inverted Pendulum Systems

by Mengshi Zhang, Jian Huang and Yu Cao

Appl. Sci. 2019, 9(12), 2508; https://doi.org/10.3390/app9122508 - 20 Jun 2019

Cited by 8 | Viewed by 3202

Abstract

Recently, the mobile wheeled inverted pendulum (MWIP) has gained an increasing interest in the field of robotics due to traffic and environmental protection problems. However, the MWIP system is characterized by its nonlinearity, underactuation, time-varying parameters, and natural instability, which make its modeling and control challenging. Traditionally, sliding mode control is a typical method for such systems, but it has the main shortcoming of a “chattering” phenomenon. To solve this problem, a super-twisting algorithm (STA)-based controller is proposed for the self-balancing and velocity tracking control of the MWIP system. Since the STA is essentially a second-order sliding mode control, it not only contains the merits of sliding mode control (SMC) in dealing with the uncertainties and disturbances but can also be effective in chattering elimination. Based on the STA, we develop an adaptive gain that helps to learn the upper bound of the disturbance by applying an adaptive law, called an adaptive super-twisting control algorithm (ASTA). The stability of the closed-loop system is ensured according to the Lyapunov theorem. Both nominal experiments and experiments with uncertainties are conducted to verify the superior performance of the proposed method. Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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20 pages, 619 KiB

Open AccessArticle

Design of Terminal Sliding Mode Controllers for Disturbed Non-Linear Systems Described by Matrix Differential Equations of the Second and First Orders

by Paweł Skruch and Marek Długosz

Appl. Sci. 2019, 9(11), 2325; https://doi.org/10.3390/app9112325 - 06 Jun 2019

Cited by 8 | Viewed by 2351

Abstract

This paper describes a design scheme for terminal sliding mode controllers of certain types of non-linear dynamical systems. Two classes of such systems are considered: the dynamic behavior of the first class of systems is described by non-linear second-order matrix differential equations, and the other class is described by non-linear first-order matrix differential equations. These two classes of non-linear systems are not completely disjointed, and are, therefore, investigated together; however, they are certainly not equivalent. In both cases, the systems experience unknown disturbances which are considered bounded. Sliding surfaces are defined by equations combining the state of the system and the expected trajectory. The control laws are drawn to force the system trajectory from an initial condition to the defined sliding surface in finite time. After reaching the sliding surface, the system trajectory remains on it. The effectiveness of the approaches proposed is verified by a few computer simulation examples. Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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23 pages, 5568 KiB

Open AccessArticle

Tele-Operated Bilateral Control of Hydraulic Manipulator Using a Robust Controller Based on the Sensorless Estimated Reaction Force

by Karam Dad Kallu, Saad Jamshed Abbasi, Hamza Khan, Jie Wang and Min Cheol Lee

Appl. Sci. 2019, 9(10), 1995; https://doi.org/10.3390/app9101995 - 15 May 2019

Cited by 11 | Viewed by 3634

Abstract

In nuclear power plants (NPP), dismantling is the most technically involved process during their life time. During the dismantling process, public safety must be ensured. In crisis situations, a remotely controlled robot system is needed for the dismantling of NPP. Therefore, in this research, a bilateral tele-operation system is proposed to tackle these emergency conditions. Transparency can be improved by using force and position signal in the control strategy. In some applications, force cannot be determine directly using physical sensors. In this work, a novel tele-operated bilateral control strategy is proposed to estimate the reaction force of 3-degree-of-freedom (DOF) master and hydraulic slave manipulators without the use of a sensor. The control strategy is developed by using sliding mode control with sliding perturbation observer (SMCSPO). The sliding perturbation observer (SPO) estimates the reaction force at the end effector and second link without using sensors. The sliding mode control (SMC) is used as a tele-operated bilateral controller for the robust position tracking and control of the slave device. The impedance model is used to differentiate between the applied force (force exerted by operator) and the reaction force due to the remote environment. Different experiments were performed to verify the proposed strategy. The results indicate that the slave manipulator exactly follows the trajectory of the master device. A camera is used to take visual feedback of the workspace for safety purpose. This technique can also be applied for higher-order DOF manipulators in NPP. Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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17 pages, 4056 KiB

Open AccessArticle

Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator

by Quang Vinh Doan, Tien Dung Le and Anh Tuan Vo

Appl. Sci. 2019, 9(9), 1756; https://doi.org/10.3390/app9091756 - 27 Apr 2019

Cited by 28 | Viewed by 4297

Abstract

The control of a parallel robotic manipulator with uncertain dynamics is a noteworthy challenge due to the complicated dynamic model; multi-closed-loop chains; and singularities. This study develops a Synchronization Full-Order Terminal Sliding Mode Control (S-FOTSMC) for a 3-DOF planar parallel robotic manipulator with uncertain dynamics. First, to achieve faster convergence of position error and synchronization error variables with minimum values at the same time, a Synchronization Full-Order Terminal Sliding Mode Surface (S-FOTSMS) is constructed in the cross-coupling error’s state space. Next; an integral of the switching control term is applied; that means, a continuous control term is extended for rejecting the effects of chattering. Finally, an SFOTSMC is designed to guarantee that sliding mode motion will occur. Consequently, the stability and the robustness of the proposed method are secured with high-performance irrespective of the influences of uncertain terms in the robot system. The simulation performances show the effectiveness of our proposed system for position tracking control of a 3-DOF planar parallel robotic manipulator. Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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17 pages, 4225 KiB

Open AccessArticle

Trajectory Tracking Control of a Hydraulic System Using TSMCSPO based on Sliding Perturbation Observer

by Jie Wang, Min Cheol Lee, Karam Dad Kallu, Saad Jamshed Abbasi and Seokyoung Ahn

Appl. Sci. 2019, 9(7), 1455; https://doi.org/10.3390/app9071455 - 07 Apr 2019

Cited by 13 | Viewed by 3591

Abstract

This paper proposes a new designed trajectory tracking method for a hydraulic manipulator, which is the terminal sliding mode control with sliding perturbation observer (TSMCSPO). The dynamics of the hydraulic system are complex and uncertain, it also generates a large reaction force when working as an excavator or a dismantling robot. In this paper, the new control law is designed to force the trajectory of the hydraulic system to follow the reference despite complex dynamics, modeling error, the huge reaction force, and dynamic uncertainties. The sliding perturbation observer (SPO) in TSMCSPO estimates all disturbances from the outside environment, dynamic uncertainties, and modeling errors in real time. We included a simulation and an experiment to verify the approach, and to demonstrate the performance compared with other controllers (SMCSPO, SMC, and TSMC). Stabilities of SPO and TSMCSPO were analyzed based on the Lyapunov stability theory. Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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21 pages, 3152 KiB

Open AccessArticle

Efficient Control of a Non-Linear System Using a Modified Sliding Mode Control

by Saad Jamshed Abbasi, Karam Dad Kallu and Min Cheol Lee

Appl. Sci. 2019, 9(7), 1284; https://doi.org/10.3390/app9071284 - 27 Mar 2019

Cited by 13 | Viewed by 3287

Abstract

Trajectory tracking is an essential requirement in robot manipulator movement and localization applications. It is a current research topic of interest, and several researchers have proposed different schemes to achieve the task accurately. This research proposes efficient control of a hydraulic non-linear robot manipulator using a modified sliding mode control, named proportional derivative sliding mode control with sliding perturbation observer (PDSMCSPO), to overcome parameter uncertainties and non-linearity. The proposed new control strategy achieves higher accuracy and better time convergence than the previous one. A positive derivative gain, which has a value less than one, is multiplied with the velocity error term of the sliding surface. The proposed control (PDSMCSPO) also achieves robustness. Results show that by introducing the derivative gain, the chattering from the system has been reduced more than classical sliding mode control (SMC). The reason is that during reaching phase this small gain multiplies with the perturbation and minimizes the effect of perturbation on the system. A smaller value of switching gain K is required as compared to SMC, and the transfer function between sliding surface and perturbation in proportional derivative sliding mode control (PDSMC)has low pass filter characteristics. The proposed PDSMCSPO has a faster response than previous sliding mode control with sliding perturbation observer (SMCSPO), and the output and sliding surface convergence to the desired value is much quicker than conventional logic. Some other characteristics such as error in the output are small because of more attenuation of the perturbation signal. Simulation and experimental results are presented for a link between the hydraulic robot manipulator and the mass damper system. Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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17 pages, 5030 KiB

Open AccessArticle

Control Method for Signalized Intersection with Integrated Waiting Area

by Xiaomei Xia, Xiaodan Ma and Jin Wang

Appl. Sci. 2019, 9(5), 968; https://doi.org/10.3390/app9050968 - 07 Mar 2019

Cited by 10 | Viewed by 2538

Abstract

To alleviate traffic congestion in the city, an integrated waiting area is introduced to the signalized intersection in this paper. After the design idea and the typical form of the integrated waiting area is proposed, the control method at the signalized intersection is discussed. The coordination control process of the main and pre-signal at the signalized intersection with the integrated waiting area is analyzed and modeled. To assess the operational performance of the integrated waiting area at intersections, a microscopic traffic simulation software (VISSIM) is utilized to simulate intersections with and without integrated waiting areas. Key issues concerning signal timing plans are then discussed. With comparisons between the operation of intersections with and without integrated waiting areas, the implementation effect is quantified based on the statistical data of the simulation result. The results confirm the potential benefits of the integrated waiting areas at the signalized intersections and show that integrated waiting areas work best in heavy traffic demand. Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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Graphical abstract

8 pages, 2858 KiB

Open AccessArticle

Application of Sliding Rehabilitation Machine in Patients with Severe Cognitive Dysfunction after Stroke

by Ae Ryoung Kim and Yang-Soo Lee

Appl. Sci. 2019, 9(5), 927; https://doi.org/10.3390/app9050927 - 05 Mar 2019

Cited by 3 | Viewed by 3515

Abstract

A sliding rehabilitation machine (SRM) allows closed kinetic chain exercises of the hip, knee, and ankle. This study aimed to explore the feasibility of SRM training when included in an intensive rehabilitation program for post-stroke patients with severe cognitive dysfunction. The study design is a retrospective analysis. Patients who were admitted for inpatient rehabilitation after stroke with subsequent severe cognitive dysfunction were enrolled. Training with the SRM was conducted twice a day from Monday to Friday during hospitalization for three to four weeks. The number of sessions and the occurrence of side effects were documented daily. The SRM’s inclination angle, Berg Balance Scale (BBS), manual muscle test (MMT), and Korean version of the Modified Barthel Index (K-MBI) were documented upon admission and discharge. In 30 patients, 1736 sessions were performed from a total of 1754 scheduled sessions of SRM training. The performance rate was 98.9%, and there were no serious side effects. Transient side effects such as dizziness, nausea, and knee pain were observed in a few cases. At discharge, patients showed improvement in the SRM inclination angle, BBS, MMT, and K-MBI. This study shows that the use of the SRM for intensive muscle strengthening is readily applicable to patients who have had a stroke with severe cognitive dysfunction. Full article

(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

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