Optimization of Sliding Mode Control to Save Energy in a SCARA Robot
Sliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of the gains in the controller could produce bigger...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/9/24/3160 |
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| author | Luis Arturo Soriano José de Jesús Rubio Eduardo Orozco Daniel Andres Cordova Genaro Ochoa Ricardo Balcazar David Ricardo Cruz Jesus Alberto Meda-Campaña Alejandro Zacarias Guadalupe Juliana Gutierrez |
| author_facet | Luis Arturo Soriano José de Jesús Rubio Eduardo Orozco Daniel Andres Cordova Genaro Ochoa Ricardo Balcazar David Ricardo Cruz Jesus Alberto Meda-Campaña Alejandro Zacarias Guadalupe Juliana Gutierrez |
| author_sort | Luis Arturo Soriano |
| collection | DOAJ |
| description | Sliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of the gains in the controller could produce bigger forces than are required to move the robots, which requires spending a large amount of energy. In the literature, several approaches were used to manage these features, but some proposals are complex and require tuning the gains. In this work, a sliding mode controller was designed and optimized in order to save energy in the position-tracking problem of a two-degree-of-freedom SCARA robot. The sliding mode controller gains were optimized usinga Bat algorithm to save energy by minimizing the forces. Finally, two controllers were designed and implemented in the simulation, and as a result, adequate controller gains were found that saved energy by minimizing the forces. |
| first_indexed | 2024-03-10T03:38:02Z |
| format | Article |
| id | doaj.art-565b8326b89d4da7837b18806eefeb71 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-10T03:38:02Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-565b8326b89d4da7837b18806eefeb712023-11-23T09:25:02ZengMDPI AGMathematics2227-73902021-12-01924316010.3390/math9243160Optimization of Sliding Mode Control to Save Energy in a SCARA RobotLuis Arturo Soriano0José de Jesús Rubio1Eduardo Orozco2Daniel Andres Cordova3Genaro Ochoa4Ricardo Balcazar5David Ricardo Cruz6Jesus Alberto Meda-Campaña7Alejandro Zacarias8Guadalupe Juliana Gutierrez9Departamento de Ingeniería Mecánica Agrícola, Universidad Autónoma Chapingo, Km. 38.5 Carretera México-Texcoco, Texcoco 56235, MexicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, MexicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, MexicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, MexicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, MexicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, MexicoInstituto Tecnológico de Tlalnepantla, Tecnológico Nacional de México, Av. Instituto Tecnológico s/n, Col. La Comunidad, Tlalnepantla de Baz 54070, MexicoSección de Estudios de Posgrado e Investigación, ESIME Zacatenco, Instituto Politécnico Nacional, Av. IPN s/n, Col. Lindavista, Gustavo A. Madero, Mexico City 07738, MexicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, MexicoSección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, MexicoSliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of the gains in the controller could produce bigger forces than are required to move the robots, which requires spending a large amount of energy. In the literature, several approaches were used to manage these features, but some proposals are complex and require tuning the gains. In this work, a sliding mode controller was designed and optimized in order to save energy in the position-tracking problem of a two-degree-of-freedom SCARA robot. The sliding mode controller gains were optimized usinga Bat algorithm to save energy by minimizing the forces. Finally, two controllers were designed and implemented in the simulation, and as a result, adequate controller gains were found that saved energy by minimizing the forces.https://www.mdpi.com/2227-7390/9/24/3160energyoptimizationBat algorithmsliding modeSCARA robot |
| spellingShingle | Luis Arturo Soriano José de Jesús Rubio Eduardo Orozco Daniel Andres Cordova Genaro Ochoa Ricardo Balcazar David Ricardo Cruz Jesus Alberto Meda-Campaña Alejandro Zacarias Guadalupe Juliana Gutierrez Optimization of Sliding Mode Control to Save Energy in a SCARA Robot Mathematics energy optimization Bat algorithm sliding mode SCARA robot |
| title | Optimization of Sliding Mode Control to Save Energy in a SCARA Robot |
| title_full | Optimization of Sliding Mode Control to Save Energy in a SCARA Robot |
| title_fullStr | Optimization of Sliding Mode Control to Save Energy in a SCARA Robot |
| title_full_unstemmed | Optimization of Sliding Mode Control to Save Energy in a SCARA Robot |
| title_short | Optimization of Sliding Mode Control to Save Energy in a SCARA Robot |
| title_sort | optimization of sliding mode control to save energy in a scara robot |
| topic | energy optimization Bat algorithm sliding mode SCARA robot |
| url | https://www.mdpi.com/2227-7390/9/24/3160 |
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