A linear matrix inequality–based proportional-derivative sliding mode control tuning method in robotic systems subjected to external disturbance. (13th April 2020)

• Record Type: Journal Article
• Authors: Ghaffari, Valiollah
• Is Part Of: Journal of vibration and control. Volume 26:Number 23/24(2020)
• Page Start: 2297
• Page End: 2315
• Publication Date: 2020-04-13
• Subjects: Robust proportional-derivative sliding-mode control -- linear matrix inequality -- optimal parameter tuning -- robot manipulator and external disturbance; Vibration -- Periodicals; Damping (Mechanics) -- Periodicals; 620.3
• DOI: 10.1177/1077546320921048
• Languages: English
• ISSNs: 1077-5463

Abstract

The proportional-derivative sliding-mode control will be designed and tuned in the trajectory tracking of a robot manipulator which operates on uncertain dynamic environments. For achieving these goals, first, a linear matrix inequality–based framework is suggested to design a robust proportional-derivative sliding-mode control in the presence of external disturbances. Next, the parameters of the proportional-derivative sliding-mode control law will be tuned via another minimization problem subjected to some linear matrix inequality constraints. Thus, the controller parameters can be automatically updated via the solution of the optimization problem. The results are successfully used in the robot manipulator with considering two reference paths and some different loads. The simulation results show the effectiveness of the proposed method in comparison with the same technique.