Variable Step-Size Adaptive Sliding Mode Controller with Exponential Law for Robot Arm Tracking

Zhi Xiang Yang, Bing Gang Jhong, Mei Yung Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we design an adaptive sliding mode controller applied on trajectory tracking of robot arms. Consider the uncertainties and external disturbances of a robot arm, we choose sliding mode control (SMC) to be the major controller and propose an adaptive control to tune the switch gain of SMC that would be able to handle unknown disturbances and uncertainties of the system. The adaptive control makes system transient response slow, so we include an exponential law (EL) to make system transient response faster. We not only combine EL with SMC to reduce chattering, but also combine EL with adaptive control to be the variable step-size adaptive control (VSSAC) which step size is tuned by error. Consequently, we prove the stability of system and show excellent performance of this controller by the experiment results.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages151-154
Number of pages4
ISBN (Electronic)9781479986965
DOIs
Publication statusPublished - 2016 Jan 12
EventIEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 - Kowloon Tong, Hong Kong
Duration: 2015 Oct 92015 Oct 12

Publication series

NameProceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015

Other

OtherIEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
CountryHong Kong
CityKowloon Tong
Period15/10/915/10/12

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Keywords

  • exponential law
  • robot ar
  • sliding mode control
  • variable step-size adaptive control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Energy Engineering and Power Technology
  • Information Systems and Management
  • Control and Systems Engineering

Cite this

Yang, Z. X., Jhong, B. G., & Chen, M. Y. (2016). Variable Step-Size Adaptive Sliding Mode Controller with Exponential Law for Robot Arm Tracking. In Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 (pp. 151-154). [7379171] (Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2015.39