A Comparison of Sliding Mode and Integral Sliding Mode Controls for Robot Manipulators

로봇 매니퓰레이터를 위한 슬라이딩 모드와 적분 슬라이딩 모드 제어의 비교

  • 유동상 (한경대학교 전기공학과, 전자기술종합연구소)
  • Published : 2009.01.01

Abstract

We compare an integral sliding mode control with a typical sliding mode control for robot manipulators through two primitive tasks: set-point regulation and trajectory tracking control. To prove the asymptotic stability of two methods for robot manipulators, we introduce three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices and we present one unified control structure using a parametric velocity vector. From illustrative examples, we show that two methods effectively control for robot manipulators.

Keywords

References

  1. R.A. DeCarlo, S. Zak, and G.P. Mathews, 'Variable Structure Control of Nonlinear Multivariable Systems: A Tutorial,' IEEE Proc., vol. 76, pp. 212-232, 1988 https://doi.org/10.1109/5.4400
  2. K. S. Yeung and Y. P. Chen, 'A New Controller Design for Manipulator Using the Theory of Variable Structure System,' IEEE Trans. Automat. Contr., vol. 33, no. 2, pp.200-206, 1988 https://doi.org/10.1109/9.391
  3. V. Utkin and J. Shi, 'Integral Sliding Mode in Systems Operating Under Uncertainty Conditions,' Proc. IEEE Conf. on Decision and Control, pp.4591-4597, Kobe, Japan, December 1996 https://doi.org/10.1109/CDC.1996.577594
  4. J. Ackermann and V. Utkin, 'Sliding Mode Control Design based on Ackermann's Formula,' IEEE Trans. Automat. Contr., vol. 43, no. 2, pp.234-237, 1998 https://doi.org/10.1109/9.661072
  5. F. Castanos and L. Fridman, 'Analysis and Design of Integral Sliding Manifolds for Systems With Unmatched Perturbations,' IEEE Trans. Automat. Contr., vol. 51, no. 5, pp.853-858, 2006 https://doi.org/10.1109/TAC.2006.875008
  6. H. H. Choi, 'LMI-Based Sliding Surface Design for Integral Sliding Mode Control of Mismatched Uncertain Systems,' IEEE Trans. Automat. Contr., vol. 52, no. 4, pp.436-742, 2007 https://doi.org/10.1109/TAC.2007.894543
  7. T. -L. Chern, 'Integral Variable Structure Control Approach for Robot Manipulators,' IEE Proc.- Contr . Theory & Applicat., vol. 139, no. 2, pp.161-166, 1992 https://doi.org/10.1049/ip-d.1992.0022
  8. J.-H, Lee and M.-J. Youn, 'A New Integral Variable Structure Regulation Controller for Robot Manipulators with Accurately Predetermined Output,' Proc. IEEE Int. Symp. Industrial Electronics, pp. 336-341, Bled, Slovenia, 1999 https://doi.org/10.1109/ISIE.1999.801809
  9. M. N. Ahmad and J. H. S. Osman, 'Proportional Integral Sliding Mode racking Controller with Application to a Robot Manipulator,' Int. Conf. Contr., Automat., Robot. and Vision, pp.863-868, Singapore, December 2002
  10. M. Defoort, J. Palos, T. Floquet, A. Kokosy and W. Perruquetti, 'Practical Stabilization and Tracking of a Wheeled Mobile Robot With Integral Sliding Mode Controller,' Proc. IEEE Conf. on Decision and Control, New Orleans, pp.1999-2004, LA, USA, December 2007 https://doi.org/10.1109/CDC.2007.4434134
  11. F.L. Lewis, S. Jagannatha, and A. Yesildirek, Neural Network Control of Robot Manipulators and Nonlinear Systems, CRC Press, pp.129-134, 1988