Overcoming control complexity of constrained three-link manipulator using sliding-mode control

Georgi M. Dimirovski; Yunlong Liu; Juan Wang; Yonggui Kao

doi:10.1109/SMC.2016.7844565

Overcoming control complexity of constrained three-link manipulator using sliding-mode control

Georgi M. Dimirovski
, Yunlong Liu
, Juan Wang
, Yonggui Kao

Dogus University
SS Cyril and Methodius University in Skopje
Weifang University
Harbin Institute of Technology Weihai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

For constrained three-link manipulation robots it is shown how the complexity of controlling anthropomorphic arm-like manipulators can be considerable ameliorated by designing a sliding-mode control. First, a representation singular system model of three-link manipulators is established by employing constrained equations and corresponding descriptions of force restriction. Then sliding-mode control with constrained control inputs for three-link manipulator is expatiated as appropriate. Based on quadratic performance index, the optimal sliding mode switching function for three-link manipulator system is derived and a modified reaching law on the grounds of the singular model is constructed using a power function. Then the sliding mode controller for three-link constrained manipulator is designed using the proposed reaching law. Using PUMA-560 the efficiency of the proposed method is demonstrated via the obtained simulation results.

Original language	English
Title of host publication	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2202-2207
Number of pages	6
ISBN (Electronic)	9781509018970
DOIs	https://doi.org/10.1109/SMC.2016.7844565
State	Published - 6 Feb 2017
Externally published	Yes
Event	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary Duration: 9 Oct 2016 → 12 Oct 2016

Publication series

Name	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

Conference

Conference	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
Country/Territory	Hungary
City	Budapest
Period	9/10/16 → 12/10/16

Keywords

Anthropomorphic arm-like robot
Constraints
Power function
Singular system model
Sliding-mode control
Three-link manipulator

Access to Document

10.1109/SMC.2016.7844565

Cite this

Dimirovski, G. M., Liu, Y., Wang, J., & Kao, Y. (2017). Overcoming control complexity of constrained three-link manipulator using sliding-mode control. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (pp. 2202-2207). Article 7844565 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2016.7844565

Dimirovski, Georgi M. ; Liu, Yunlong ; Wang, Juan et al. / Overcoming control complexity of constrained three-link manipulator using sliding-mode control. 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 2202-2207 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings).

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title = "Overcoming control complexity of constrained three-link manipulator using sliding-mode control",

abstract = "For constrained three-link manipulation robots it is shown how the complexity of controlling anthropomorphic arm-like manipulators can be considerable ameliorated by designing a sliding-mode control. First, a representation singular system model of three-link manipulators is established by employing constrained equations and corresponding descriptions of force restriction. Then sliding-mode control with constrained control inputs for three-link manipulator is expatiated as appropriate. Based on quadratic performance index, the optimal sliding mode switching function for three-link manipulator system is derived and a modified reaching law on the grounds of the singular model is constructed using a power function. Then the sliding mode controller for three-link constrained manipulator is designed using the proposed reaching law. Using PUMA-560 the efficiency of the proposed method is demonstrated via the obtained simulation results.",

keywords = "Anthropomorphic arm-like robot, Constraints, Power function, Singular system model, Sliding-mode control, Three-link manipulator",

author = "Dimirovski, \{Georgi M.\} and Yunlong Liu and Juan Wang and Yonggui Kao",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 ; Conference date: 09-10-2016 Through 12-10-2016",

year = "2017",

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doi = "10.1109/SMC.2016.7844565",

language = "英语",

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Dimirovski, GM, Liu, Y, Wang, J & Kao, Y 2017, Overcoming control complexity of constrained three-link manipulator using sliding-mode control. in 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings., 7844565, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 2202-2207, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016, Budapest, Hungary, 9/10/16. https://doi.org/10.1109/SMC.2016.7844565

Overcoming control complexity of constrained three-link manipulator using sliding-mode control. / Dimirovski, Georgi M.; Liu, Yunlong; Wang, Juan et al.
2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2202-2207 7844565 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Dimirovski, Georgi M.

AU - Liu, Yunlong

AU - Wang, Juan

AU - Kao, Yonggui

PY - 2017/2/6

Y1 - 2017/2/6

N2 - For constrained three-link manipulation robots it is shown how the complexity of controlling anthropomorphic arm-like manipulators can be considerable ameliorated by designing a sliding-mode control. First, a representation singular system model of three-link manipulators is established by employing constrained equations and corresponding descriptions of force restriction. Then sliding-mode control with constrained control inputs for three-link manipulator is expatiated as appropriate. Based on quadratic performance index, the optimal sliding mode switching function for three-link manipulator system is derived and a modified reaching law on the grounds of the singular model is constructed using a power function. Then the sliding mode controller for three-link constrained manipulator is designed using the proposed reaching law. Using PUMA-560 the efficiency of the proposed method is demonstrated via the obtained simulation results.

AB - For constrained three-link manipulation robots it is shown how the complexity of controlling anthropomorphic arm-like manipulators can be considerable ameliorated by designing a sliding-mode control. First, a representation singular system model of three-link manipulators is established by employing constrained equations and corresponding descriptions of force restriction. Then sliding-mode control with constrained control inputs for three-link manipulator is expatiated as appropriate. Based on quadratic performance index, the optimal sliding mode switching function for three-link manipulator system is derived and a modified reaching law on the grounds of the singular model is constructed using a power function. Then the sliding mode controller for three-link constrained manipulator is designed using the proposed reaching law. Using PUMA-560 the efficiency of the proposed method is demonstrated via the obtained simulation results.

KW - Anthropomorphic arm-like robot

KW - Constraints

KW - Power function

KW - Singular system model

KW - Sliding-mode control

KW - Three-link manipulator

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PB - Institute of Electrical and Electronics Engineers Inc.

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Dimirovski GM, Liu Y, Wang J, Kao Y. Overcoming control complexity of constrained three-link manipulator using sliding-mode control. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2017. p. 2202-2207. 7844565. (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings). doi: 10.1109/SMC.2016.7844565

Overcoming control complexity of constrained three-link manipulator using sliding-mode control

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