Volume 4, Issue 6, December 2016, Page: 95-100
Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping
Sungha Kwon, School of Electrical Electronics & Contol, Changwon National University, Changwon, Gyeongnam, South Korea
Abner Asignacion, School of Electrical Electronics & Contol, Changwon National University, Changwon, Gyeongnam, South Korea
Seungkyu Park, School of Electrical Electronics & Contol, Changwon National University, Changwon, Gyeongnam, South Korea
Received: Dec. 6, 2016;       Accepted: Dec. 20, 2016;       Published: Jan. 16, 2017
DOI: 10.11648/j.acis.20160406.13      View  2948      Downloads  117
Abstract
The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for flexible joint robots by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition of disturbances. The dynamic model of FJR is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.
Keywords
Flexible Joint Robot, Backstepping Control, Integral Sliding Mode, Mismatched Disturbance, Robust Impedance Control
To cite this article
Sungha Kwon, Abner Asignacion, Seungkyu Park, Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping, Automation, Control and Intelligent Systems. Vol. 4, No. 6, 2016, pp. 95-100. doi: 10.11648/j.acis.20160406.13
Copyright
Copyright © 2016 Authors retain the copyright of this article.
This article is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Reference
[1]
G. Pratt and M. Williamson, “Series elastic actuators,” in 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 1, pp. 399–406, Aug. 1995.
[2]
A. Albu-Schaffer, O. Eiberger, M. Grebenstein, S. Haddadin, C. Ott, T. Wimbock, S. Wolf, and G. Hirzinger, “Soft robotics,” Robotics & Automation Magazine, IEEE, vol. 15, no. 3, pp. 20–30, Sep. 2008. 

[3]
S. Ozgoli, H. D. Taghirad, “A Survey on the Control of Flexible Joint Robots,” Asian Journal of Control, Vol. 8, No. 4, pp. 332-344, Jul. 2006.
[4]
S. Ulrich, J. Sasiadek, “Extended Kalman Filtering for Flexible Joint Space Robot Control,” 2011 American Control Conference, pp.1021-1016, June 29 - July 01, 2011.
[5]
Kostas Nanos, G. Papadopoulos, “On the dynamics and control of flexible joint space manipulators,” Control Engineering Practice Control Engineering Practice, vol. 45, pp. 230–243, 2015.
[6]
F. Wang, X. Liu, “Fuzzy H-inf Control of Flexible Joint Robot,” Information Computing and Applications Lecture Notes in Computer Science, vol. 7030, pp. 424-431, Oct. 2011.
[7]
L. Bakule, B. Rehak, M. Papík, “Decentralized H-infinity control of complex systems with delayed feedback,” Automatica vol. 67, pp. 127-131 May 2016.
[8]
M. J. Kim, W. K. Chung, “Robust Control of Flexible Joint Robots Based On Motor-side Dynamics Reshaping using Disturbance Observer (DOB),” IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2381-2388 2014.
[9]
Z. Yang, B. Meng, H. Sun, “A new kind of nonlinear disturbance observer for nonlinear systems with applications to cruise control of air-breathing hypersonic vehicles,” International Journal of Control, pp. 1-16, Sep 2016.
[10]
R. Lozano, B. Brogliato, “Adaptive Control of Robot Manipulators with Flexible Joints,” IEEE Transactions on Automatic Control, vol. 37, no. 2, pp.174-181, Feb. 1992.
[11]
F. Ghorbel, J. Hung, M. Spong, “Adaptive Control of Flexible-Joint Manipulators,” IEEE International Conference on Robotics and Automation, pp. 1188-1193, 1989.
[12]
A. Hace, K. Jezernik, and A. Sabanovic, “SMC with disturbance observer for a linear belt drive,” IEEE Transactions on Industrial Electronics, vol. 54, no. 6, pp. 3402-3412, Dec. 2007.
[13]
V. Utkin, J. Shi, “Integral sliding mode in systems operating under uncertainty conditions,” Proc. 35th IEEE Conference on Decision Control, Kobe, Japan, pp. 4591-4596, Dec. 1996.
[14]
L. E. Jiménezm, A. Loukianov, E. B. Corrochano, “Integral Nested Sliding Mode Control for Robotic Manipulators,” 17th World Congress The International Federation of Automatic Control, Seoul, Korea, July 6-11, pp. 9899-9904, 2008.
[15]
M. Rubagotti, F. Castaños, A. Ferrara and L. Fridman, “Integral Sliding Mode Control for Nonlinear Systems With Matched and Unmatched Perturbations,” IEEE Transactions on Automatic Control, vol. 56, no. 11, pp. 2699-2704, Nov. 2011.
[16]
Y. Lin, C. Cheng, “Design of adaptive backstepping tracking controllers for a class of mismatched perturbed chaotic synchronization systems,” SICE Annual Conference, pp. 2549-2544, 2010.
[17]
J. H. Oh and J. S. Lee, “Backstepping control design of flexible joint manipulator using only position measurement,” Proc. IEEE Conference on Decision Control, vol. 1, pp. 931-936, Dec. 1998.
[18]
Y. Chang, “A Regressor Free Adaptive Backstepping Design of Flexible Joint Robot Based on Function Approximation Technique,” First International Conference on Robot, Vision and Signal Processing, pp. 3435-3440, Apr. 1997.
[19]
J. Oh, J. Lee, “Control of Flexible Joint Robot System by Backstepping Design Approach,” International Conference on Robotics and Automation, pp.131-136, 1997.
[20]
P. Tomei, “A Simple PD Controller for Robots with Elastic Joints,” IEEE Transactions on Automatic Control, vol. 36, no. 10, pp. 1208-1213, Oct. 1991.
[21]
A. De Luca, E. Guglielmelli, and P. Dario, “Compliance control for an anthropomorphic robot with elastic joints: Theory and experiments,” Journal of dynamic systems, measurement, and control, vol. 127, no. 3, pp. 321-328, Jul. 2005.
[22]
A. De Luca, B. Siciliano, and L. Zollo, “PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments,” Automatica, vol. 41, no. 10, pp. 1809–1819, Oct. 2005.
[23]
M. J. Kim and W. K. Chung, “Design of nonlinear optimal impedance controllers,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1972-1978, 2013.
[24]
J. H. Kim, S. Andrew Gadsden and Stephen A. Wilkerson, “Adaptive integral sliding mode controller for longitudinal rotation control of a tilt-rotor aircraft,” 24th Mediterranean Conference on Control and Automation (MED), pp. 820-825, Jun. 2016.
Browse journals by subject