Design of an Integral Suboptimal Second-Order Sliding Mode Controller for the Robust Motion Control of Robot Manipulators

被引:174
作者
Ferrara, Antonella [1 ]
Incremona, Gian Paolo [1 ]
机构
[1] Univ Pavia, Dipartimento Ingn Ind & Informaz, I-27100 Pavia, Italy
关键词
Nonlinear control systems; robot control; robust control; sliding mode control (SMC); uncertain systems; MECHANICAL SYSTEMS; ORDER; DIFFERENTIATION;
D O I
10.1109/TCST.2015.2420624
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The formulation of an integral suboptimal second-order sliding mode ((ISSOSM) control algorithm, oriented to solve motion control problems for robot manipulators, is presented in this paper. The proposed algorithm is designed so that the so-called reaching phase, normally present in the evolution of a system controlled via the sliding mode approach, is reduced to a minimum. This fact makes the algorithm more suitable to be applied to a real industrial robot, since it enhances its robustness, by extending it also to time intervals during which the classical sliding mode is not enforced. Moreover, since the algorithm generates second-order sliding modes, while the model of the controlled electromechanical system has a relative degree equal to one, the control action actually fed into the plant is continuous, which provides a positive chattering alleviation effect. The assessment of the proposal has been carried out by experimentally testing it on a COMAU SMART3-S2 anthropomorphic industrial robot manipulator. The satisfactory experimental results, also compared with those obtained with a standard proportional-derivative controller and with the original suboptimal algorithm, confirm that the new algorithm can actually be used in an industrial context.
引用
收藏
页码:2316 / 2325
页数:10
相关论文
共 37 条
[1]   On multi-input chattering-free second-order sliding mode control [J].
Bartolini, G ;
Ferrara, A ;
Usai, E ;
Utkin, VI .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2000, 45 (09) :1711-1717
[2]  
Bartolini G., 1998, Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104), P242, DOI 10.1109/CCA.1998.728381
[3]   Output tracking control of uncertain nonlinear second-order systems [J].
Bartolini, G ;
Ferrara, A ;
Usai, E .
AUTOMATICA, 1997, 33 (12) :2203-2212
[4]   A survey of applications of second-order sliding mode control to mechanical systems [J].
Bartolini, G ;
Pisano, A ;
Punta, E ;
Usai, E .
INTERNATIONAL JOURNAL OF CONTROL, 2003, 76 (9-10) :875-892
[5]   Chattering avoidance by second-order sliding mode control [J].
Bartolini, G ;
Ferrara, A ;
Usai, E .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1998, 43 (02) :241-246
[6]   Analysis of chattering in systems with second-order sliding modes [J].
Boiko, Igor ;
Fridman, Leonid ;
Pisano, Alessandro ;
Usai, Elio .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2007, 52 (11) :2085-2102
[7]  
Boiko IM, 2011, P AMER CONTR CONF, P757
[8]   MIMO Closed Loop Identification of an Industrial Robot [J].
Calanca, Andrea ;
Capisani, Luca M. ;
Ferrara, Antonella ;
Magnani, Lorenza .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2011, 19 (05) :1214-1224
[9]   Trajectory Planning and Second-Order Sliding Mode Motion/Interaction Control for Robot Manipulators in Unknown Environments [J].
Capisani, Luca Massimiliano ;
Ferrara, Antonella .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2012, 59 (08) :3189-3198
[10]   Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes [J].
Capisani, Luca Massimiliano ;
Facchinetti, Tullio ;
Ferrara, Antonella .
INTERNATIONAL JOURNAL OF CONTROL, 2010, 83 (08) :1595-1611