Robust Control of Vibration-Based Manipulator with Variable Gain Integral Sliding Mode Strategy

ObjectiveResearch on robust control of mechanical systems with fundamental vibrations and parameter perturbations, such as marine engineering machinery, mobile manipulators, underwater manipulators, and space manipulators.MethodsAn integral sliding mode control strategy with variable gain is proposed, and accessibility and global stability of which have been proved.ResultsCompared with the conventional PID control, the designed controller is robust to disturbances of parameters perturbation and base vibration, the variable ratio and integral gain have strong self-adaptability, and can dynamically regulate the controller structure, so that the system can move in line with the expected state trajectory of the sliding mode. Simulation analysis agrees well with the experimental results, which confirm the effectiveness and feasibility of the proposed control scheme.ConclusionThe integral sliding mode controller with variable gain can be employed in space manipulator, mobile robots, offshore cranes and other dynamics systems mounted on vibration bases.