International Journal of Vehicle Structures and Systems

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Sliding Mode Controller with Nonlinear Sliding Surface for Two-Link Planar Manipulator


Affiliations
1 Dept. of Mech., Materials and Manuf. Engg., The University of Nottingham Malaysia Campus, Malaysia
2 Dept. of Mechatronics and Biomedical Engg., Universiti Tunku Abdul Rahman, Malaysia
 

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The objective of this paper is to propose a method to control a two-link planar manipulator using a sliding mode controller with higher order sliding surface. Earlier approaches of varying sliding surface are time dependent and this may not yield optimal performance as the rotating surface does not depend on the dynamic states of the system. In this paper, the proposed control law alters the sliding surface based on the error states to drive the trajectory approaching the sliding phase quicker. A new sliding manifold is established and tuned until error decreases to zero. Stability is ensured through Lyapunov theorem and the trajectory is driven towards a designed sliding surface. The performance of the proposed controller is evaluated and compared against the conventional sliding mode controller as well as the previous approach of rotating sliding surface controller. Results showed that the proposed controller improved the respond speed and shortened the reaching phase. Although the chattering phenomenon remains, it enhanced the flexibility to adapt to the variation of system settings (e.g. torque limit).

Keywords

Sliding Mode Control, Nonlinear Sliding Surface Design, Robot Manipulator.
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  • Sliding Mode Controller with Nonlinear Sliding Surface for Two-Link Planar Manipulator

Abstract Views: 411  |  PDF Views: 201

Authors

Yu-Yang Kow
Dept. of Mech., Materials and Manuf. Engg., The University of Nottingham Malaysia Campus, Malaysia
Jee-Hou Ho
Dept. of Mech., Materials and Manuf. Engg., The University of Nottingham Malaysia Campus, Malaysia
Tong-Yuen Chai
Dept. of Mechatronics and Biomedical Engg., Universiti Tunku Abdul Rahman, Malaysia

Abstract


The objective of this paper is to propose a method to control a two-link planar manipulator using a sliding mode controller with higher order sliding surface. Earlier approaches of varying sliding surface are time dependent and this may not yield optimal performance as the rotating surface does not depend on the dynamic states of the system. In this paper, the proposed control law alters the sliding surface based on the error states to drive the trajectory approaching the sliding phase quicker. A new sliding manifold is established and tuned until error decreases to zero. Stability is ensured through Lyapunov theorem and the trajectory is driven towards a designed sliding surface. The performance of the proposed controller is evaluated and compared against the conventional sliding mode controller as well as the previous approach of rotating sliding surface controller. Results showed that the proposed controller improved the respond speed and shortened the reaching phase. Although the chattering phenomenon remains, it enhanced the flexibility to adapt to the variation of system settings (e.g. torque limit).

Keywords


Sliding Mode Control, Nonlinear Sliding Surface Design, Robot Manipulator.

References





DOI: https://doi.org/10.4273/ijvss.10.2.11