A Novel Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm †
Abstract
:1. Introduction
- An adaptive control mechanism is proposed to deal with the controlling task of a 2-DOF elastic robot arm. The control mechanism has two loops. The outer loop is an adaptive sliding mode controller (ASMC) to deal with uncertainties and disturbances on the load side of the robot arm. The output of this loop is the desired angular position of the motors. The inner loop consists of the model reference adaptive controllers (MRAC) to stabilise the motor side of the robot arm;
- Extensive simulation experiments and a comparison with the conventional sliding mode controller are conducted to demonstrate the effectiveness of the proposed controller.
2. Related Research Work
3. Mathematical Model of the 2-DOF Elastic Robot Arm
4. Controller Design
5. Simulation
5.1. Sine Wave Input
5.2. Square Wave Input
5.3. Step Input
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Conflicts of Interest
Abbreviations
ASMC | Adaptive sliding mode controller |
MRAC | Model reference adaptive8controllers |
SAR | Search and rescue |
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Type of Robots | Humanoid Robot | Snake Robot | Rehabilitation Robot |
---|---|---|---|
Applications | NASA Valkyrie [7] COMAN [12] | POAL [13,14] | RiceWrist [9] ULIX [10] rotary SEA [11] |
d | a | |||
---|---|---|---|---|
Joint 1 | 0 | |||
Joint 2 | 0 |
Parameter | Value | Parameter | Value | Parameter | Value |
---|---|---|---|---|---|
Gear ratio () | 10 | Spring stiffness () | 1500, 1200 | Load inertia () | 0.1 |
Load damping coefficient () | 0.2 | Motor damping coefficient () | 0.027 | Motor inertia () | 0.003 |
Motor mass () | 1 | Link mass () | 6, 4 | Link length () | 0.3 |
Parameter | Value | Parameter | Value | Parameter | Value |
---|---|---|---|---|---|
U | 400 |
Operating Condition | Normal Condition | Sine Wave Disturbance | Square Wave Disturbance | |
---|---|---|---|---|
Controller Type | ||||
ASMC-MRAC | Joint 1 | 0.009929 | 0.025849 | 0.014397 |
Joint 2 | 0.026402 | 0.026601 | 0.029558 | |
SMC-MRAC | Joint 1 | 0.011813 | 0.102562 | 0.017625 |
Joint 2 | 0.033602 | 0.055017 | 0.038218 |
Operating Condition | Normal Condition | Sine Wave Disturbance | Square Wave Disturbance | |
---|---|---|---|---|
Controller Type | ||||
ASMC-MRAC | Joint 1 | 0.013186 | 0.033616 | 0.023396 |
Joint 2 | 0.029123 | 0.028937 | 0.031433 | |
SMC-MRAC | Joint 1 | 0.049605 | 0.091040 | 0.058128 |
Joint 2 | 0.085158 | 0.092527 | 0.100103 |
Performance Specs | RMS Error | Total Variance of Control Signal | |
---|---|---|---|
Controller Type | |||
ASMC-MRAC | Joint 1 | 0.016170 | 0.083913 |
Joint 2 | 0.025250 | 0.220392 | |
SMC-MRAC | Joint 1 | 0.064749 | 0.002466 |
Joint 2 | 0.129457 | 0.002836 |
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Tuan, H.M.; Sanfilippo, F.; Hao, N.V. A Novel Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm. Robotics 2022, 11, 47. https://doi.org/10.3390/robotics11020047
Tuan HM, Sanfilippo F, Hao NV. A Novel Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm. Robotics. 2022; 11(2):47. https://doi.org/10.3390/robotics11020047
Chicago/Turabian StyleTuan, Hua Minh, Filippo Sanfilippo, and Nguyen Vinh Hao. 2022. "A Novel Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm" Robotics 11, no. 2: 47. https://doi.org/10.3390/robotics11020047