Hostname: page-component-7dd5485656-frp75 Total loading time: 0 Render date: 2025-10-29T21:45:59.566Z Has data issue: false hasContentIssue false
  • English
  • Français

Screw Dynamic Modeling and Novel Composite Error-Based Second-order Sliding Mode Dynamic Control for a Bilaterally Symmetrical Hybrid Robot

Published online by Cambridge University Press:  08 January 2021

Qiuyue Qin  and
Guoqin Gao Open the ORCID record for Guoqin Gao [Opens in a new window]
Qiuyue Qin
Affiliation:
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China
Guoqin Gao*
Affiliation:
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China
*
*Corresponding author. E-mail: gqgao@ujs.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

In this research, a dynamic model is first established based on screw theory and the principle of virtual work for a bilaterally symmetrical hybrid robot. By combining a novel composite error (NCE) with second-order nonsingular fast terminal sliding mode (SONFTSM) control method, a NCE-based SONFTSM dynamic control method is further presented to guarantee better trajectory tracking performance and synchronization performance simultaneously. The asymptotic convergence of proposed errors and the stability of the proposed control method have been proved theoretically. Finally, the simulation and experiment are implemented to validate the effectiveness of the proposed control method.

Keywords

Hybrid robotDynamic controlSliding mode controlComposite errorScrew theory

Information

Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021 , pp. 1264 - 1280
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Yang, X., Liu, H. T., Xiao, J. L., Zhu, W. L. and Huang, T., “Continuous friction feedforward sliding mode controller for a TriMule hybrid robot,” IEEE/ASME T. Mech. 23(04), 1673–1683 (2018).CrossRefGoogle Scholar
Gao, Z. and Zhang, D., “Performance analysis, mapping, and multiobjective optimization of a hybrid robotic machine tool,” IEEE T. Ind. Electron. 62(01), 423–433 (2015).CrossRefGoogle Scholar
Wang, L. P., Wu, J. and Wang, J. S., “An experimental study of a redundantly actuated parallel manipulator for a 5-DOF hybrid machine tool,” IEEE/ASME T. Mech. 14(01), 72–81 (2009).CrossRefGoogle Scholar
Shang, W. W., Cong, S. and Jiang, S. L., “Dynamic model based nonlinear tracking control of a planar parallel manipulator,” Nonlinear Dynam. 60(04), 597–606 (2010).CrossRefGoogle Scholar
Wu, J., Yu, G., Gao, Y. and Wang, L. P., “Mechatronics modeling and vibration analysis of a 2-DOF parallel manipulator in a 5-DOF hybrid machine tool,” Mech. Mach. Theory 121, 430–445 (2018).CrossRefGoogle Scholar
Liu, X. J., Chen, X. and Gao, G. Q., “A kind of 3-DOF conveyor for automobile coating,” China, Patent ZL201210015045.7 (2012).Google Scholar
Mobayen, S., “An adaptive chattering-free PID sliding mode control based on dynamic sliding manifolds for a class of uncertain nonlinear systems,” Nonlinear Dynam. 82(01), 53–60 (2015).CrossRefGoogle Scholar
Wu, J. and Wang, L. P., “Motion control of the 2-DOF parallel manipulator of a hybrid machine tool,” Robotica 28(06), 861–868 (2010).CrossRefGoogle Scholar
Wu, J., Wang, J. S. and You, Z., “An overview of dynamic parameter identification of robots,” Robot. Cim-Int. Manuf. 26(05), 414–419 (2010).CrossRefGoogle Scholar
Yen, P. L. and Lai, C. C., “Dynamic modeling and control of a 3-DOF cartesian parallel manipulator,” IEEE/ASME T. Mech. 19(03), 390–398 (2009).Google Scholar
Dasgupta, B. and Mruthyunjaya, T. S., “A Newton-Euler formulation for the inverse dynamics of the stewart platform manipulator,” Mech. Mach. Theory 33(08), 1135–1152 (1998).CrossRefGoogle Scholar
Wang, J. G. and Li, Y. M., “Dynamics modeling and simulation of a kind of wheeled humanoid robot based on screw theory,” Int. J. Hum. Robot 09(04), 1–27 (2012).CrossRefGoogle Scholar
Shao, P. J., Wang, Z., Yang, S. F. and Liu, Z. Z., “Dynamic modeling of a two-DoF rotational parallel robot with changeable rotational axes,” Mech. Mach. Theory 131, 318–335 (2019).CrossRefGoogle Scholar
Zhao, J. and Gao, F., “Inverse dynamics of the 6-DOF out-parallel manipulator by means of the principle of virtual work,” Robotica 27(02), 259–268 (2009).CrossRefGoogle Scholar
Enferadi, J., and Tootoonchi, A. A., “Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work,” Nonlinear Dynam. 61(03), 419–434 (2010).CrossRefGoogle Scholar
Wu, J., Wang, J. S., Wang, L. P., and Li, T. M., “Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy,” Mech. Mach. Theory 44(04), 835–849 (2009).CrossRefGoogle Scholar
Gallardo, J., Rico, J. M., Frisoli, A. and Checcacci, D., “Dynamics of parallel manipulators by means of screw theory,” Mech. Mach. Theory 38(11), 1113–1131 (2003).CrossRefGoogle Scholar
Kazemi, H., Majd, V. J. and Moghaddam, M. M., “Modeling and robust backstepping control of an underactuated quadruped robot in bounding motion,” Robotica 31(03), 423–439 (2013).CrossRefGoogle Scholar
Cheah, C. C., Kawamura, S., Arimoto, S. and Lee, K., “H∞ tuning for task-space feedback control of robot with uncertain Jacobian matrix,” IEEE T. Automat. Contr. 46(08), 1313–1318 (2001).CrossRefGoogle Scholar
Islam, S. and Liu, X. P., “Robust sliding mode control for robot manipulators,” IEEE Trans. Ind. Electron. 58(06), 2444–2453 (2011).CrossRefGoogle Scholar
Sabanovic, A., K. Wada and N.Šabanović, “Chattering-free sliding modes in robotic manipulators control,” Robotica 14(01), 17–29 (1996).CrossRefGoogle Scholar
Fallaha, C., Saad, M., Kanaan, H. and Al-Haddad, K., “Sliding-mode robot control with exponential reaching law,” IEEE Trans. Ind. Electron. 58(02), 600–610 (2011).CrossRefGoogle Scholar
Shi, J. X., Liu, H. and Bajcinca, N., “Robust control of robotic manipulators based on integral sliding mode,” Int. J. Control 81(10), 1537–1548 (2008).CrossRefGoogle Scholar
Haimo, V. T., “Finite time controllers,” SIAM J. Cont. Optim. 24, 760–770 (1986).CrossRefGoogle Scholar
Man, Z. H., Paplinski, A. P. and Wu, H., “A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators,” IEEE Trans. Automat. Cont. 39, 2464–2469 (1994).Google Scholar
Man, Z. H. and Yu, X. H., “Terminal sliding mode control of MIMO linear systems,” IEEE T. Circuits-I. 44(11), 1065–1070 (1997).Google Scholar
Liu, J. K., Variable Structure Sliding Mode Control Theory and MATLAB Simulations. Beijing: Tsinghua University Press (2005).Google Scholar
Feng, Y., Yu, X. H., and Man, Z. H., “Non-singular terminal sliding mode control and its application for robot manipulators,” In: Proceedings of IEEE International Symposium on Circuits and System (2001) pp. 545–548.Google Scholar
Elmokadem, T., Zribi, M. and Youcef-Toumi, K., “Terminal sliding mode control for the trajectory tracking of underactuated autonomous underwater vehicles,” Ocean Eng. 129, 613–625 (2017).CrossRefGoogle Scholar
Doan, D. V., Le, T. D. and Vo, A. T., “Synchronization full-order terminal sliding mode control for an uncertain 3-DOF planar parallel robotic manipulator,” Appl. Sci.-Basel 09(09), 1–17 (2019).Google Scholar
Feng, Y., Han, X. and Wang, Y. H., “Second-order terminal sliding mode control of uncertain multivariable systems,” Int. J. Cont. 80(06), 856–862 (2007).CrossRefGoogle Scholar
Abooee, Y., Khorasani, M. M. and Haeri, M., “Finite time control of robotic manipulators with position output feedback,” Int. J. Robust Nonlin. 27(16), 1–18 (2017).CrossRefGoogle Scholar
Qiao, L. and Zhang, W., “Adaptive second-order fast nonsingular terminal sliding mode tracking control for fully actuated autonomous underwater vehicles,” IEEE J. Oceanic Eng. 44(02), 363–385 (2019).CrossRefGoogle Scholar
Yi, S. C. and Zhai, J. Y., “Adaptive second-order fast nonsingular terminal sliding mode control for robotic manipulators,” ISA Trans. 90, 41–51 (2019).CrossRefGoogle ScholarPubMed
Wang, Y. Y., Zhu, K. W. and Yan, F., “Adaptive super-twisting nonsingular fast terminal sliding mode control for cable-driven manipulators using time-delay estimation,” Adv. Eng. Softw. 128, 113–124 (2019).CrossRefGoogle Scholar
Gao, G. Q., Wu, X. T., Cao, Y. Y. and Fang, Z. M., “Synchronized sliding mode control of a hybrid mechanism for automobile electro-coating conveying,” Electr. Mach. Cont. 21(06), 113–120 (2017) (in Chinese)Google Scholar
Gao, G. Q. and Zhang, M. C., “Control of a novel hybrid conveying mechanism for electro-coating of automobile bodies,” In: Proceedings of the IEEE 36th Chinese Control Conference (CCC) (2017) pp. 4841–4846.Google Scholar
Gao, G. Q., Ye, M. Y. and Zhang, M. C., “Synchronous robust sliding mode control of a parallel robot for automobile electro-coating conveying,” IEEE Access 7, 85838–85847 (2019).CrossRefGoogle Scholar
Zhang, Y. X., Cong, S. and Shang, W. W., “Modeling, identification and control of a redundant planar 2-DOF parallel manipulator,” Int. J. Control Autom. 5, 559–569 (2007).Google Scholar