Abstract
A technique using augmented sliding mode control for robust, real-time control of flexible multiple link robots is presented. For the purpose of controller design, the n-link, n-joint robot is subdivided into n single joint, single link subsystems. A sliding surface for each subsystem is specified so as to be globally, asymptotically stable. Each sliding surface contains rigid-body angular velocity, angular displacement and flexible body generalized velocities. The flexible body generalized accelerations are treated as disturbances during the controller design. This has the advantage of not requiring explicit equations for the flexible body motion. The result is n single input, single output controllers acting at the n joints of the robot, controlling rigid body angular displacement and providing damping for flexible body modes. Furthermore, the n controllers can be operated in parallel so that compute speed is independent of the number of links, affording real-time, robust, control.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Asada, H. and Slotine, J.-J. E.: Robot Analysis and Control, Wiley, New York, 1986.
U.S. Department of Energy, Environmental Restoration and Waste Managemetn Robotics Technology Development Program Robotics 5-Year Program Plan, DOE/EM-0007T, Vols 1–3, 1991.
Tang, L. and Skaar, S.: Stability of conventional controller design for flexible manipulators, J. Appl. Mech. 60 (1993), 491–497.
Juang, J. N., Horta, L. G. and Robertshaw, H. H.: A slewing control experiment for flexible structures. AIAA J. Guidance, Navigation, and Control 9(5) (1986), 599–607.
Siciliano, B. and Book, W. J.: A singular perturbation approach to control of lightweight flexible manipulators, Int. J. Robotics Res. 7(4) (1988), 79–90.
Garcia, E. and Inman, D. J.: Modeling of the slewing control of a flexible structure, AIAA J. Guidance, Navigation, and Control 14(4) (1991), 736–742.
Liu, Y. C. and Yang, S. M.: Three simple and efficient methods for vibration control of slewing flexible structures, in Proc. 1992 Amer. Control Conf., 1992, pp. 1670–1674.
Luo, Z. H.: Stability analysis of Direct strain feedback control of flexible robot arms, in Proc. 1992 Amer. Control Conf., 1992, pp. 3319–3323.
Kuo, C. F. and Kuo, C. Y.: Efficient control of a flexible robot arm by shaped inputs, in Proc. Winter Ann. Meeting ASME, 1992, DSC-Vol. 38, pp. 261–270.
Chen, B. S. and Yang, T. Y.: Robust optimal model matching control design for flexible manipulators. ASME J. Dynamic Systems, Measurement and Control 115 (1993), 173–178.
Alder, L. J. and Rock, S. M.: Experiments in control of a flexible-link robotic manipulator with unknown payload dynamics: An adaptive approach, Int. J. Robotics Res. 13(6) (1994), 481–495.
Tzes, A. P. and Yurkovich, S.: Adaptive precompensators for flexible-link manipulator control, in Proc. 28th Conf. Decision and Control, Tampa, FL, December 1989, pp. 2083–2088.
Khorrami, F. and Zheng, S.: An inner/outer loop controller for rigid flexible manipulators, ASME J. Dynamic Systems, Measurement, and Control, 114 (1992), 580–587.
Lucibello, P. and DiBenedetto, M. D.: Output tracking for a nonlinear flexible arm, ASME J. Dynamic Systems, Measurement, and Control 115 (1993), 78–80.
Shoenwald, D. A., Feddema, J. T., Eisler, G. R. and Segalman, D. J.: Minimum-time trajectory control of a two-link flexible robotic manipulator, in Proc. 1991 IEEE Int. Conf. Robotics and Automation, 1991, pp. 2114–2120.
Feddema, J. T., Eisler, G. R., Segalman, D. J., Robinett, R. D., Morimoto, A. K., and Shoenwald, D. A.: Techniques for controlling a two-link flexible arm, Proc. 4th Topical Meet. Robotics and Remote Systems, 1991.
Feddema, J. T., Eisler, G. R., and Segalman, D. J.: Integration of model-based and sensor-based control for a two-link flexible robot arm, IEEE Int. Conf. Systems Engineering, 1990.
DeLuca, A. and Siciliano, B.: Regulation of flexible arms under gravity, IEEE Trans. Robotics and Automation 9(4) (1993), 463–467.
Khorrami, F. and Jain, S.: Nonlinear control with end-point acceleration feedback for a two-link flexible manipulator: experimental results, J. Robotic Systems 10(4) (1992), 505–530.
Paden, B., Chen, D., Ledesma, R., and Bayo, E.: Exponentially stable tracking control of multijoint flexible-link manipulators, J. Dynamic Systems, Measurement, and Control 115 (1993), 53–59.
Young, K.-K.D., Ozguner, U., and Xu, J. X.: Variable structure control of flexible manipulators, in K.-K. D.Young (ed.), Variable Structure Control for Robotics and Aerospace Application, Elsevier, Amsterdam, 1993.
Parker, G., Control techniques for multibody flexible structures modelled by a method of quadratic modes, PhD Dissertation, State Univ. of New York at Buffalo, 1994.
Blankenship, G., Ghanadan, R., Polyakov, V., and Kwatny, H.: Modeling and design tools for control of multibody systems: nonlinear adaptive control, in Proc. Winter Annual Meeting ASME, 1993 DSC-Vol. 52, pp. 81–97.
Utkin, V.: Variable structure systems with sliding modes, IEEE Trans. Automatic Control 22(2) (1977), 212–222.
Utkin, V.: Sliding Modes in Control Optimization, Springer, Berlin, 1981.
Glatzl, A., Murphy, S., Wen, J., and Kopacek, P.: Discrete implementation and adaptation of sliding mode control for robot manipulators, in Proc. IEEE Int. Conf. Robotics and Automation, 1993, pp. 539–544.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Parker, G.G., Segalman, D.J., Robinett, R.D. et al. Decentralized sliding mode control for flexible link robots. J Intell Robot Syst 17, 61–79 (1996). https://doi.org/10.1007/BF00435716
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF00435716