A Comparative Study between RISE Feedback and Twisting Second Order Sliding Mode Controllers for a 3 DOF Robot Manipulator

  • سال انتشار: 1393
  • محل انتشار: فصلنامه بین المللی مهندسی مکاترونیک ، برق و کامپیوتر، دوره: 4، شماره: 13
  • کد COI اختصاصی: JR_IJMEC-4-13_004
  • زبان مقاله: انگلیسی
  • تعداد مشاهده: 766
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نویسندگان

Marzieh Yazdanzad

Department of Electrical and Computer Engineering, Noshirvani University of Technology, Babol, Iran

Alireza Khosravi

Department of Electrical and Computer Engineering, Noshirvani University of Technology, Babol, Iran

چکیده

The robotic control is a very popular research topic due to its wide range of applications. In this paper, the problem of position tracking control of a three degree-of-freedom (DOF) robot manipulator is investigated in presence of uncertainties and bounded external disturbances. Due to complexity of robot manipulators and system uncertainties, a robust control technique is required to solve this problem. In this paper, two different robust control schemes including twisting second-order sliding mode and robust integral of the sign of the error (RISE) feedback are designed and their performances are compared in simulation. RISE feedback is a recently developed continuous control strategy that can compensate uncertainties and bounded external disturbances and results in asymptotic trajectory tracking. To avoid selecting the gains of controllers by time-consuming trial and error method, particle swarm optimization (PSO) algorithm is used. The objective of the PSO algorithm is to detect a set of parameters that minimizes the mean of root squared error as the fitness function. A comparative assessment of both control strategies to the system performance is analyzed and discussed.

کلیدواژه ها

Robust integral of the sign of the error (RISE) feedback, Twisting sliding mode, 3 DOF robot manipulator, Particle swarm optimization (PSO), Asymptotic tracking

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