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Discrete‐time based sliding‐mode control of robot manipulators

Discrete‐time based sliding‐mode control of robot manipulators Purpose – The purpose of this paper is to develop sliding mode control with linear and nonlinear manifolds in discrete‐time domain for robot manipulators. Design/methodology/approach – First, a discrete linear sliding mode controller is designed to an n‐link robot based on Gao's reaching law. In the second step, a discrete terminal sliding mode controller is developed to design a finite time and high precision controller. The stability analysis of both controllers is presented in the presence of model uncertainties and external disturbances. Finally, sampling time effects on the continuous‐time system outputs and sliding surfaces are discussed. Findings – Computer simulations on a three‐link SCARA robot show that the proposed controllers are robust against model uncertainties and external disturbance. It was also shown that the sampling time has important effects on the closed loop system stability and convergence. Practical implications – The proposed controllers are low cost and easily implemented in practice in comparison with continuous‐time ones. Originality/value – The novelty associated with this paper is the development of an approach to finite time and robust control of n‐link robot manipulators in discrete‐time domain. Also, obtaining an upper bound for the sampling time is another contribution of this work. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Intelligent Computing and Cybernetics Emerald Publishing

Discrete‐time based sliding‐mode control of robot manipulators

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Publisher
Emerald Publishing
Copyright
Copyright © 2012 Emerald Group Publishing Limited. All rights reserved.
ISSN
1756-378X
DOI
10.1108/17563781211255880
Publisher site
See Article on Publisher Site

Abstract

Purpose – The purpose of this paper is to develop sliding mode control with linear and nonlinear manifolds in discrete‐time domain for robot manipulators. Design/methodology/approach – First, a discrete linear sliding mode controller is designed to an n‐link robot based on Gao's reaching law. In the second step, a discrete terminal sliding mode controller is developed to design a finite time and high precision controller. The stability analysis of both controllers is presented in the presence of model uncertainties and external disturbances. Finally, sampling time effects on the continuous‐time system outputs and sliding surfaces are discussed. Findings – Computer simulations on a three‐link SCARA robot show that the proposed controllers are robust against model uncertainties and external disturbance. It was also shown that the sampling time has important effects on the closed loop system stability and convergence. Practical implications – The proposed controllers are low cost and easily implemented in practice in comparison with continuous‐time ones. Originality/value – The novelty associated with this paper is the development of an approach to finite time and robust control of n‐link robot manipulators in discrete‐time domain. Also, obtaining an upper bound for the sampling time is another contribution of this work.

Journal

International Journal of Intelligent Computing and CyberneticsEmerald Publishing

Published: Aug 17, 2012

Keywords: Sampling time; Discrete‐time sliding mode; Terminal sliding mode; Linear and nonlinear manifolds; N‐link robot manipulator; Robots; Control technology; Control systems

References