Second Order Sliding Mode-Based Output Feedback Tracking Control for Uncertain Robot Manipulators

In this paper, a robust output feedback tracking control scheme for motion control of uncertain robot manipulators without joint velocity measurement based on a second-order sliding mode (SOSM) observer is presented. Two second-order sliding mode observers with finite time convergence are developed...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 10; no. 1
Main Authors Van, Mien, Kang, Hee-Jun, Suh, Young-Soo
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 01.01.2013
Sage Publications Ltd
SAGE Publishing
Subjects
Algorithms
Computer simulation
Control systems
Design
Filtration
Identification
Manipulators
Model matching
Motion control
Observers
Output feedback
Robot arms
Robot control
Robot dynamics
Robots
Robust control
Sliding mode control
State variable
State vectors
Tracking control
Uncertainty
Velocity
Velocity measurement
Second-Order Sliding Mode
Output Feedback Tracking Control
Observer-Controller
Robot Manipulators
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Summary:In this paper, a robust output feedback tracking control scheme for motion control of uncertain robot manipulators without joint velocity measurement based on a second-order sliding mode (SOSM) observer is presented. Two second-order sliding mode observers with finite time convergence are developed for velocity estimation and uncertainty identification, respectively. The first SOSM observer is used to estimate the state vector in finite time without filtration. However, for uncertainty identification, the values are constructed from the high switching frequencies, necessitating the application of a filter. To estimate the uncertainties without filtration, a second SOSM-based nonlinear observer is designed. By integrating two SOSM observers, the resulting observer can theoretically obtain exact estimations of both velocity and uncertainty. An output feedback tracking control scheme is then designed based on the observed values of the state variables and the direct compensation of matched modelling uncertainty using their identified values. Finally, results of a simulation for a PUMA560 robot are shown to verify the effectiveness of the proposed strategy.
ISSN:1729-8806
1729-8814
DOI:10.5772/55060