期刊
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷 19, 期 9, 页码 2959-2970出版社
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-020-0064-y
关键词
Degrees of freedom; integral sliding mode control; perturbation; sliding mode control with sliding perturbation observer
资金
- National Research Foundation of Korea (NRF) - Ministry of Science and ICT (MSIT, Korea) [NRF-2019M2C9A1057807]
- National Research Foundation of Korea [2019M2C9A1057807] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
In this study, two different control logics, sliding mode control with a sliding perturbation observer (SMCSPO) and integral sliding mode control (ISMC), have been designed for the position control of a robot with five degrees of freedom (DOFs). Both control schemes have been implemented in MATLAB/Simulink, and it has been observed that the ISMC controller has improved the tracking performance of the system.
In this study, two different control logics have been designed for the position control of a robot with five degrees of freedom (DOFs). First, a sliding mode control with a sliding perturbation observer (SMCSPO) has been proposed. The SMCSPO is robust against perturbation, which is the sum of nonlinearities, parametric uncertainties, and external disturbances. To implement the SMCSPO, linear parameters of the system are required; however, these are difficult to identify. Moreover, it is exigent to derive the equation of motion for the multi-DOF robot. Accordingly, an integral sliding mode control (ISMC) has been designed for the position control of this multi-DOF robot. The ISMC controller does not require a mathematical model of the system. The ISMC control input applies a switching gain to compensate for the perturbation and system dynamics. In comparison with the SMCSPO, the ISMC has improved the tracking performance of the system because of its unique characteristics. Both control schemes have been implemented in MATLAB/Simulink. It has been observed that the tracking error of each ISMC joint is lower than that of the SMCSPO.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据