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Bae, Joonbum
Bio-Robotics and Control (BiRC) Lab
Research Interests
  • Design and control of physical human-robot interaction systems
  • Soft robotics
  • Intelligent interaction algorithms for virtual reality, tele-operation and rehabilitation
  • Bio-inspired robotics for improved mobility

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A Nonlinear Sliding Mode Controller of Serial Robot Manipulators with Two-level Gain-learning Ability

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Title
A Nonlinear Sliding Mode Controller of Serial Robot Manipulators with Two-level Gain-learning Ability
Author
Ba, Dang XuanBae, Joonbum
Issue Date
2020-10
Publisher
Institute of Electrical and Electronics Engineers Inc.
Citation
IEEE ACCESS, v.8, pp.189224 - 189235
Abstract
This article presents a learning robust controller for high-quality position tracking control of robot manipulators. A basic time-delay estimator is adopted to effectively approximate the system dynamics. A low-level control layer is structured from the control error as an indirect control objective using new nonlinear sliding-mode synthetization. To realize the control objective with desired transient time, a robust sliding mode control signal is then designed based on the obtained estimation results in a high-level control layer. To promptly suppress unpredictable disturbances, adaptation ability is integrated to the controller using two-level gain-learning laws. Reaching gains and sliding gain are automatically tuned for asymptotic control performance. Effectiveness of the designed controller is concretely confirmed by the Lyapunov-based stability criterion, comparative simulations, and real-time experiments.
URI
https://scholarworks.unist.ac.kr/handle/201301/48282
URL
https://ieeexplore.ieee.org/document/9233324
DOI
10.1109/ACCESS.2020.3032449
ISSN
2169-3536
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