Robust Sliding Mode Control for Flexible Joint Robotic Manipulator via Disturbance Observer

Alam, Waqar; Ahmad, Sayyar; Mehmood, Adeel; Iqbal, Jamshed

Abstract

In a flexible joint robotic manipulator, parametric variations and external disturbances result in mismatch uncertainties thus posing a great challenge in terms of manipulator’s control. This article investigates non-linear control algorithms for desired trajectory tracking of a flexible manipulator subjected to mismatch perturbations. The manipulator’s dynamics is derived based on Euler-Lagrange approach followed by the design of nonlinear control laws. The traditional Sliding Mode Control and Integral Sliding Mode Control failed to demonstrate adequate performance due to complex system dynamics. Disturbance Observer-based Sliding Mode Control has been thoroughly examined by defining a novel sliding manifold. The aforementioned control laws are designed and simulated in MATLAB/Simulink environment to characterize the control performance. Results demonstrated that the proposed Disturbance Observer-based Sliding Mode Control scheme over-performed on Sliding Mode Control variants and had three prominent features: robustness against mismatch uncertainty, improved chattering behaviour and ability to sustain nominal control performance of the system.

Citation

Alam, W., Ahmad, S., Mehmood, A., & Iqbal, J. (2019). Robust Sliding Mode Control for Flexible Joint Robotic Manipulator via Disturbance Observer. Interdisciplinary Description of Complex Systems, 17(1), 85-97. https://doi.org/10.7906/indecs.17.1.11

• Journal Article Type: Article
• Acceptance Date: Mar 22, 2019
• Publication Date: 2019
• Deposit Date: Sep 15, 2021
• Publicly Available Date: Sep 24, 2021
• Journal: Interdisciplinary Description of Complex Systems
• Print ISSN: 1334-4684
• Electronic ISSN: 1334-4676
• Peer Reviewed: Peer Reviewed
• Volume: 17
• Issue: 1
• Pages: 85-97
• DOI: https://doi.org/10.7906/indecs.17.1.11
• Keywords: Robotics; Automation; Modern control; Flexible joint manipulator
• Public URL: https://hull-repository.worktribe.com/output/3839697