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Trajectory Tracking Control of Multi-DOF Robot without Considering System Dynamics

Saad Jamshed Abbasi, Hamza Khan, and Min Cheol Lee*
International Journal of Control, Automation, and Systems, vol. 19, no. 9, pp.2959-2970, 2021

Abstract : In this study, two different control logics have been designed for the position control of a robot with five degrees of freedom (DOFs). First, a sliding mode control with a sliding perturbation observer (SMCSPO) has been proposed. The SMCSPO is robust against perturbation, which is the sum of nonlinearities, parametric uncertainties, and external disturbances. To implement the SMCSPO, linear parameters of the system are required; however, these are difficult to identify. Moreover, it is exigent to derive the equation of motion for the multi-DOF robot. Accordingly, an integral sliding mode control (ISMC) has been designed for the position control of this multi-DOF robot. The ISMC controller does not require a mathematical model of the system. The ISMC control input applies a switching gain to compensate for the perturbation and system dynamics. In comparison with the SMCSPO, the ISMC has improved the tracking performance of the system because of its unique characteristics. Both control schemes have been implemented in MATLAB/Simulink. It has been observed that the tracking error of each ISMC joint is lower than that of the SMCSPO.

Keyword : Degrees of freedom, integral sliding mode control, perturbation, sliding mode control with sliding perturbation observer.

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