Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators

In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled int...

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Autores principales:	Xin Cheng, Huashan Liu, Wenke Lu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	flexible-joint robot manipulator sliding mode control chattering phenomenon radial basis function neural network extended Kalman filter Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
Acceso en línea:	https://doaj.org/article/51f3730f58a3429dbf6603ccd6439f8f
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id	oai:doaj.org-article:51f3730f58a3429dbf6603ccd6439f8f
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spelling	oai:doaj.org-article:51f3730f58a3429dbf6603ccd6439f8f2021-11-25T15:56:50ZChattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators10.3390/act101102882076-0825https://doaj.org/article/51f3730f58a3429dbf6603ccd6439f8f2021-10-01T00:00:00Zhttps://www.mdpi.com/2076-0825/10/11/288https://doaj.org/toc/2076-0825In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled into two typical tracking aims of a slow subsystem and a fast subsystem. Then, considering lumped uncertainties (including dynamics uncertainties and external disturbances), a composite chattering-suppressed sliding mode controller is proposed, where a smooth-saturation-function-contained reaching law with adjustable saturation factor is designed to alleviate the inherent chattering phenomenon, and a radial basis function neural network (RBFNN)-based soft computing strategy is applied to avoid the high switching gain that leads to chattering amplification. Simultaneously, an efficient extended Kalman filter (EKF) with respect to a new state variable is presented to enable the closed-loop tracking control with neither position nor velocity measurements of links. In addition, an overall analysis on the asymptotic stability of the whole control system is given. Finally, numerical examples verify the superiority of the dynamic performance of the proposed control approach, which is well qualified to suppress the chattering and can effectively eliminate the undesirable effects of the lumped uncertainties with a smaller switching gain reduced by 80% in comparison to that in the controller without RBFNN. The computational efficiency of the proposed EKF increased by about 26%.Xin ChengHuashan LiuWenke LuMDPI AGarticleflexible-joint robot manipulatorsliding mode controlchattering phenomenonradial basis function neural networkextended Kalman filterMaterials of engineering and construction. Mechanics of materialsTA401-492Production of electric energy or power. Powerplants. Central stationsTK1001-1841ENActuators, Vol 10, Iss 288, p 288 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	flexible-joint robot manipulator sliding mode control chattering phenomenon radial basis function neural network extended Kalman filter Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
spellingShingle	flexible-joint robot manipulator sliding mode control chattering phenomenon radial basis function neural network extended Kalman filter Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841 Xin Cheng Huashan Liu Wenke Lu Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators
description	In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled into two typical tracking aims of a slow subsystem and a fast subsystem. Then, considering lumped uncertainties (including dynamics uncertainties and external disturbances), a composite chattering-suppressed sliding mode controller is proposed, where a smooth-saturation-function-contained reaching law with adjustable saturation factor is designed to alleviate the inherent chattering phenomenon, and a radial basis function neural network (RBFNN)-based soft computing strategy is applied to avoid the high switching gain that leads to chattering amplification. Simultaneously, an efficient extended Kalman filter (EKF) with respect to a new state variable is presented to enable the closed-loop tracking control with neither position nor velocity measurements of links. In addition, an overall analysis on the asymptotic stability of the whole control system is given. Finally, numerical examples verify the superiority of the dynamic performance of the proposed control approach, which is well qualified to suppress the chattering and can effectively eliminate the undesirable effects of the lumped uncertainties with a smaller switching gain reduced by 80% in comparison to that in the controller without RBFNN. The computational efficiency of the proposed EKF increased by about 26%.
format	article
author	Xin Cheng Huashan Liu Wenke Lu
author_facet	Xin Cheng Huashan Liu Wenke Lu
author_sort	Xin Cheng
title	Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators
title_short	Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators
title_full	Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators
title_fullStr	Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators
title_full_unstemmed	Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators
title_sort	chattering-suppressed sliding mode control for flexible-joint robot manipulators
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/51f3730f58a3429dbf6603ccd6439f8f
work_keys_str_mv	AT xincheng chatteringsuppressedslidingmodecontrolforflexiblejointrobotmanipulators AT huashanliu chatteringsuppressedslidingmodecontrolforflexiblejointrobotmanipulators AT wenkelu chatteringsuppressedslidingmodecontrolforflexiblejointrobotmanipulators
_version_	1718413379494739968

Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators

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