Hyperbolic-Secant-Function-Based Fast Sliding Mode Control for Pantograph Robots
Technological advancements in control systems are indispensable and require a robust controller with fast convergence in numerous sectors like robotics, space engineering, etc. A sliding mode controller (SMC) is a robust controller when subjected to nonlinearities, external disturbances, and uncerta...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/10/941 |
| _version_ | 1797573196600311808 |
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| author | Muhammad Ali Hassan Zhenwei Cao Zhihong Man |
| author_facet | Muhammad Ali Hassan Zhenwei Cao Zhihong Man |
| author_sort | Muhammad Ali Hassan |
| collection | DOAJ |
| description | Technological advancements in control systems are indispensable and require a robust controller with fast convergence in numerous sectors like robotics, space engineering, etc. A sliding mode controller (SMC) is a robust controller when subjected to nonlinearities, external disturbances, and uncertainties in system dynamics. However, SMC is prone to chattering, which can damage the plant in long term and results in low tracking accuracy. In this research paper, a novel hyperbolic secant function (HSF)-based SMC is proposed that achieves fast convergence, reduces chattering, and improves tracking performance. Stability analysis is conducted based on Lyapunov stability criteria. Comparative simulations and experiments on a pantograph robot (PR) show the effectiveness of the proposed algorithm. |
| first_indexed | 2024-03-10T21:07:27Z |
| format | Article |
| id | doaj.art-fad444ef8499407ab9590c3608d3de4c |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T21:07:27Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-fad444ef8499407ab9590c3608d3de4c2023-11-19T17:08:23ZengMDPI AGMachines2075-17022023-10-01111094110.3390/machines11100941Hyperbolic-Secant-Function-Based Fast Sliding Mode Control for Pantograph RobotsMuhammad Ali Hassan0Zhenwei Cao1Zhihong Man2Department of Telecommunications, Electrical, Robotics and Biomedical Engineering, Swinburne University of Technology, Hawthorn 3122, AustraliaDepartment of Telecommunications, Electrical, Robotics and Biomedical Engineering, Swinburne University of Technology, Hawthorn 3122, AustraliaDepartment of Telecommunications, Electrical, Robotics and Biomedical Engineering, Swinburne University of Technology, Hawthorn 3122, AustraliaTechnological advancements in control systems are indispensable and require a robust controller with fast convergence in numerous sectors like robotics, space engineering, etc. A sliding mode controller (SMC) is a robust controller when subjected to nonlinearities, external disturbances, and uncertainties in system dynamics. However, SMC is prone to chattering, which can damage the plant in long term and results in low tracking accuracy. In this research paper, a novel hyperbolic secant function (HSF)-based SMC is proposed that achieves fast convergence, reduces chattering, and improves tracking performance. Stability analysis is conducted based on Lyapunov stability criteria. Comparative simulations and experiments on a pantograph robot (PR) show the effectiveness of the proposed algorithm.https://www.mdpi.com/2075-1702/11/10/941sliding mode controllerhyperbolic secant functionend-effectorposition controlpantograph robot |
| spellingShingle | Muhammad Ali Hassan Zhenwei Cao Zhihong Man Hyperbolic-Secant-Function-Based Fast Sliding Mode Control for Pantograph Robots Machines sliding mode controller hyperbolic secant function end-effector position control pantograph robot |
| title | Hyperbolic-Secant-Function-Based Fast Sliding Mode Control for Pantograph Robots |
| title_full | Hyperbolic-Secant-Function-Based Fast Sliding Mode Control for Pantograph Robots |
| title_fullStr | Hyperbolic-Secant-Function-Based Fast Sliding Mode Control for Pantograph Robots |
| title_full_unstemmed | Hyperbolic-Secant-Function-Based Fast Sliding Mode Control for Pantograph Robots |
| title_short | Hyperbolic-Secant-Function-Based Fast Sliding Mode Control for Pantograph Robots |
| title_sort | hyperbolic secant function based fast sliding mode control for pantograph robots |
| topic | sliding mode controller hyperbolic secant function end-effector position control pantograph robot |
| url | https://www.mdpi.com/2075-1702/11/10/941 |
| work_keys_str_mv | AT muhammadalihassan hyperbolicsecantfunctionbasedfastslidingmodecontrolforpantographrobots AT zhenweicao hyperbolicsecantfunctionbasedfastslidingmodecontrolforpantographrobots AT zhihongman hyperbolicsecantfunctionbasedfastslidingmodecontrolforpantographrobots |