Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction
In this paper, an adaptive synchronization sliding mode control is proposed for a dual-arm robot against parameter variations, external disturbance, and unknown control directions. The proposed control is designed by using cross-coupling error and sliding mode control to guarantee the position synch...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-06-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/13/7423 |
| _version_ | 1797592178443157504 |
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| author | Duc Thien Tran Hoang Vu Dao Kyoung Kwan Ahn |
| author_facet | Duc Thien Tran Hoang Vu Dao Kyoung Kwan Ahn |
| author_sort | Duc Thien Tran |
| collection | DOAJ |
| description | In this paper, an adaptive synchronization sliding mode control is proposed for a dual-arm robot against parameter variations, external disturbance, and unknown control directions. The proposed control is designed by using cross-coupling error and sliding mode control to guarantee the position synchronization of the dual-arm manipulator. The control objective of the proposed control is to synchronize the movement of both arms beside the trajectory tracking issue. In order to manage the lumped uncertainties caused by the parameter variations, external disturbance, and unknown control directions, an extended state observer is used in the proposed control. It enhances the stability of the controlled system against uncertainties. Additionally, a Nussbaum gain function is integrated into the control algorithm to deal with the issue of unknown control direction. Lyapunov stability theory is used to demonstrate the stability of the controlled system. Finally, some simulations are implemented in MATLAB Simulink with a dual 3-DOF manipulator system. The results of the proposed control are compared to other controllers to verify its effectiveness. |
| first_indexed | 2024-03-11T01:47:46Z |
| format | Article |
| id | doaj.art-18547cf15d814047a18f141b213f0297 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T01:47:46Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-18547cf15d814047a18f141b213f02972023-11-18T16:06:12ZengMDPI AGApplied Sciences2076-34172023-06-011313742310.3390/app13137423Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control DirectionDuc Thien Tran0Hoang Vu Dao1Kyoung Kwan Ahn2Automatic Control Department, Ho Chi Minh City University of Technology and Education, Ho Chi Minh 700000, VietnamSchool of Mechanical Engineering, University of Ulsan, Ulsan 44610, Republic of KoreaSchool of Mechanical Engineering, University of Ulsan, Ulsan 44610, Republic of KoreaIn this paper, an adaptive synchronization sliding mode control is proposed for a dual-arm robot against parameter variations, external disturbance, and unknown control directions. The proposed control is designed by using cross-coupling error and sliding mode control to guarantee the position synchronization of the dual-arm manipulator. The control objective of the proposed control is to synchronize the movement of both arms beside the trajectory tracking issue. In order to manage the lumped uncertainties caused by the parameter variations, external disturbance, and unknown control directions, an extended state observer is used in the proposed control. It enhances the stability of the controlled system against uncertainties. Additionally, a Nussbaum gain function is integrated into the control algorithm to deal with the issue of unknown control direction. Lyapunov stability theory is used to demonstrate the stability of the controlled system. Finally, some simulations are implemented in MATLAB Simulink with a dual 3-DOF manipulator system. The results of the proposed control are compared to other controllers to verify its effectiveness.https://www.mdpi.com/2076-3417/13/13/7423dual-arm manipulatorunknown control directionsadaptive synchronization sliding mode controlNussbaum gain functionLyapunov stability theory |
| spellingShingle | Duc Thien Tran Hoang Vu Dao Kyoung Kwan Ahn Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction Applied Sciences dual-arm manipulator unknown control directions adaptive synchronization sliding mode control Nussbaum gain function Lyapunov stability theory |
| title | Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction |
| title_full | Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction |
| title_fullStr | Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction |
| title_full_unstemmed | Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction |
| title_short | Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction |
| title_sort | adaptive synchronization sliding mode control for an uncertain dual arm robot with unknown control direction |
| topic | dual-arm manipulator unknown control directions adaptive synchronization sliding mode control Nussbaum gain function Lyapunov stability theory |
| url | https://www.mdpi.com/2076-3417/13/13/7423 |
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