Second Order Sliding Mode Hybrid Control for Constrained Manipulators with Friction

This paper deals with the hybrid position/force control of constrained manipulators subjected to uncertainties and disturbances of various nature, including Coulomb friction. The proposed solution is based on sliding-mode control theory, which has been shown to be highly effective in counteracting uncertainties and disturbances for some classes of uncertain nonlinear systems. Specific drawbacks presented by the classical sliding mode techniques are the chattering phenomenon and the algebraic coupling between constraint forces and possibly discontinuous control signals. Both these problems are addressed in the paper by exploiting the robustness properties of second-order sliding-mode control algorithms. A specific algorithm of this kind, recently developed by the authors, is proved to be effective also when the dynamic equation of the system includes discontinuous disturbances.

[1]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[2]  Antonella Ferrara,et al.  Chattering avoidance by second-order sliding mode control , 1998, IEEE Transactions on Automatic Control.

[3]  Vadim I. Utkin,et al.  On multi-input chattering-free second-order sliding mode control , 2000, IEEE Trans. Autom. Control..

[4]  Antonella Ferrara,et al.  On second order sliding mode controllers , 1998 .

[5]  Brian Armstrong,et al.  PID control in the presence of static friction: A comparison of algebraic and describing function analysis , 1996, Autom..

[6]  Tsuneo Yoshikawa,et al.  Dynamic Hybrid Position/Force Control of Robot Manipulators , 1985 .

[7]  Hariharan Krishnan,et al.  Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems , 1994, Autom..

[8]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[9]  Carlos Canudas de Wit,et al.  A survey of models, analysis tools and compensation methods for the control of machines with friction , 1994, Autom..

[10]  Carlos Canudas de Wit,et al.  Adaptive Friction Compensation in Robot Manipulators: Low Velocities , 1991, Int. J. Robotics Res..

[11]  Arie Levant,et al.  Higher order sliding modes as a natural phenomenon in control theory , 1996 .

[12]  Elena Panteley,et al.  Adaptive trajectory/force control scheme for constrained robot manipulators , 1993 .

[13]  C. Canudas-de-Wit Comments on "A new model for control of systems with friction" , 1998, IEEE Trans. Autom. Control..

[14]  Shankar Sastry,et al.  A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators , 1986, 1986 25th IEEE Conference on Decision and Control.

[15]  Carlos Canudas de Wit,et al.  A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..