Automation, Control and Intelligent Systems

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Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping

Received: 06 December 2016    Accepted: 20 December 2016    Published: 16 January 2017
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Abstract

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for flexible joint robots by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition of disturbances. The dynamic model of FJR is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.

DOI 10.11648/j.acis.20160406.13
Published in Automation, Control and Intelligent Systems (Volume 4, Issue 6, December 2016)
Page(s) 95-100
Creative Commons

This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.

Copyright

Copyright © The Author(s), 2024. Published by Science Publishing Group

Keywords

Flexible Joint Robot, Backstepping Control, Integral Sliding Mode, Mismatched Disturbance, Robust Impedance Control

References
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[3] S. Ozgoli, H. D. Taghirad, “A Survey on the Control of Flexible Joint Robots,” Asian Journal of Control, Vol. 8, No. 4, pp. 332-344, Jul. 2006.
[4] S. Ulrich, J. Sasiadek, “Extended Kalman Filtering for Flexible Joint Space Robot Control,” 2011 American Control Conference, pp.1021-1016, June 29 - July 01, 2011.
[5] Kostas Nanos, G. Papadopoulos, “On the dynamics and control of flexible joint space manipulators,” Control Engineering Practice Control Engineering Practice, vol. 45, pp. 230–243, 2015.
[6] F. Wang, X. Liu, “Fuzzy H-inf Control of Flexible Joint Robot,” Information Computing and Applications Lecture Notes in Computer Science, vol. 7030, pp. 424-431, Oct. 2011.
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[8] M. J. Kim, W. K. Chung, “Robust Control of Flexible Joint Robots Based On Motor-side Dynamics Reshaping using Disturbance Observer (DOB),” IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2381-2388 2014.
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[13] V. Utkin, J. Shi, “Integral sliding mode in systems operating under uncertainty conditions,” Proc. 35th IEEE Conference on Decision Control, Kobe, Japan, pp. 4591-4596, Dec. 1996.
[14] L. E. Jiménezm, A. Loukianov, E. B. Corrochano, “Integral Nested Sliding Mode Control for Robotic Manipulators,” 17th World Congress The International Federation of Automatic Control, Seoul, Korea, July 6-11, pp. 9899-9904, 2008.
[15] M. Rubagotti, F. Castaños, A. Ferrara and L. Fridman, “Integral Sliding Mode Control for Nonlinear Systems With Matched and Unmatched Perturbations,” IEEE Transactions on Automatic Control, vol. 56, no. 11, pp. 2699-2704, Nov. 2011.
[16] Y. Lin, C. Cheng, “Design of adaptive backstepping tracking controllers for a class of mismatched perturbed chaotic synchronization systems,” SICE Annual Conference, pp. 2549-2544, 2010.
[17] J. H. Oh and J. S. Lee, “Backstepping control design of flexible joint manipulator using only position measurement,” Proc. IEEE Conference on Decision Control, vol. 1, pp. 931-936, Dec. 1998.
[18] Y. Chang, “A Regressor Free Adaptive Backstepping Design of Flexible Joint Robot Based on Function Approximation Technique,” First International Conference on Robot, Vision and Signal Processing, pp. 3435-3440, Apr. 1997.
[19] J. Oh, J. Lee, “Control of Flexible Joint Robot System by Backstepping Design Approach,” International Conference on Robotics and Automation, pp.131-136, 1997.
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Author Information
  • School of Electrical Electronics & Contol, Changwon National University, Changwon, Gyeongnam, South Korea

  • School of Electrical Electronics & Contol, Changwon National University, Changwon, Gyeongnam, South Korea

  • School of Electrical Electronics & Contol, Changwon National University, Changwon, Gyeongnam, South Korea

Cite This Article
  • APA Style

    Sungha Kwon, Abner Asignacion, Seungkyu Park. (2017). Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping. Automation, Control and Intelligent Systems, 4(6), 95-100. https://doi.org/10.11648/j.acis.20160406.13

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    ACS Style

    Sungha Kwon; Abner Asignacion; Seungkyu Park. Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping. Autom. Control Intell. Syst. 2017, 4(6), 95-100. doi: 10.11648/j.acis.20160406.13

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    AMA Style

    Sungha Kwon, Abner Asignacion, Seungkyu Park. Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping. Autom Control Intell Syst. 2017;4(6):95-100. doi: 10.11648/j.acis.20160406.13

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  • @article{10.11648/j.acis.20160406.13,
      author = {Sungha Kwon and Abner Asignacion and Seungkyu Park},
      title = {Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping},
      journal = {Automation, Control and Intelligent Systems},
      volume = {4},
      number = {6},
      pages = {95-100},
      doi = {10.11648/j.acis.20160406.13},
      url = {https://doi.org/10.11648/j.acis.20160406.13},
      eprint = {https://download.sciencepg.com/pdf/10.11648.j.acis.20160406.13},
      abstract = {The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for flexible joint robots by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition of disturbances. The dynamic model of FJR is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.},
     year = {2017}
    }
    

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    T1  - Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping
    AU  - Sungha Kwon
    AU  - Abner Asignacion
    AU  - Seungkyu Park
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    T2  - Automation, Control and Intelligent Systems
    JF  - Automation, Control and Intelligent Systems
    JO  - Automation, Control and Intelligent Systems
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    PB  - Science Publishing Group
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    AB  - The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for flexible joint robots by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition of disturbances. The dynamic model of FJR is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.
    VL  - 4
    IS  - 6
    ER  - 

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