Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping

Sungha Kwon; Abner Asignacion; Seungkyu Park

doi:doi:10.11648/j.acis.20160406.13

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Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping

Sungha Kwon, Abner Asignacion, Seungkyu Park

Published in Automation, Control and Intelligent Systems (Volume 4, Issue 6)

Received: 6 December 2016 Accepted: 20 December 2016 Published: 16 January 2017

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Abstract

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for flexible joint robots by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition of disturbances. The dynamic model of FJR is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.

Published in	Automation, Control and Intelligent Systems (Volume 4, Issue 6)
DOI	10.11648/j.acis.20160406.13
Page(s)	95-100
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2017. Published by Science Publishing Group

Keywords

Flexible Joint Robot, Backstepping Control, Integral Sliding Mode, Mismatched Disturbance, Robust Impedance Control

References

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APA Style

Sungha Kwon, Abner Asignacion, Seungkyu Park. (2017). Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping. Automation, Control and Intelligent Systems, 4(6), 95-100. https://doi.org/10.11648/j.acis.20160406.13

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ACS Style

Sungha Kwon; Abner Asignacion; Seungkyu Park. Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping. Autom. Control Intell. Syst. 2017, 4(6), 95-100. doi: 10.11648/j.acis.20160406.13

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AMA Style

Sungha Kwon, Abner Asignacion, Seungkyu Park. Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping. Autom Control Intell Syst. 2017;4(6):95-100. doi: 10.11648/j.acis.20160406.13

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@article{10.11648/j.acis.20160406.13,
  author = {Sungha Kwon and Abner Asignacion and Seungkyu Park},
  title = {Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping},
  journal = {Automation, Control and Intelligent Systems},
  volume = {4},
  number = {6},
  pages = {95-100},
  doi = {10.11648/j.acis.20160406.13},
  url = {https://doi.org/10.11648/j.acis.20160406.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20160406.13},
  abstract = {The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for flexible joint robots by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition of disturbances. The dynamic model of FJR is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.},
 year = {2017}
}

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TY  - JOUR
T1  - Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping
AU  - Sungha Kwon
AU  - Abner Asignacion
AU  - Seungkyu Park
Y1  - 2017/01/16
PY  - 2017
N1  - https://doi.org/10.11648/j.acis.20160406.13
DO  - 10.11648/j.acis.20160406.13
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 95
EP  - 100
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20160406.13
AB  - The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for flexible joint robots by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition of disturbances. The dynamic model of FJR is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.
VL  - 4
IS  - 6
ER  -

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Author Information

Sungha Kwon

School of Electrical Electronics & Contol, Changwon National University, Changwon, Gyeongnam, South Korea
Abner Asignacion

School of Electrical Electronics & Contol, Changwon National University, Changwon, Gyeongnam, South Korea
Seungkyu Park

School of Electrical Electronics & Contol, Changwon National University, Changwon, Gyeongnam, South Korea

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Plain Text BibTeX RIS

APA Style

Sungha Kwon, Abner Asignacion, Seungkyu Park. (2017). Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping. Automation, Control and Intelligent Systems, 4(6), 95-100. https://doi.org/10.11648/j.acis.20160406.13

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ACS Style

Sungha Kwon; Abner Asignacion; Seungkyu Park. Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping. Autom. Control Intell. Syst. 2017, 4(6), 95-100. doi: 10.11648/j.acis.20160406.13

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AMA Style

Sungha Kwon, Abner Asignacion, Seungkyu Park. Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping. Autom Control Intell Syst. 2017;4(6):95-100. doi: 10.11648/j.acis.20160406.13

Copy | Download

@article{10.11648/j.acis.20160406.13,
  author = {Sungha Kwon and Abner Asignacion and Seungkyu Park},
  title = {Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping},
  journal = {Automation, Control and Intelligent Systems},
  volume = {4},
  number = {6},
  pages = {95-100},
  doi = {10.11648/j.acis.20160406.13},
  url = {https://doi.org/10.11648/j.acis.20160406.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20160406.13},
  abstract = {The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for flexible joint robots by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition of disturbances. The dynamic model of FJR is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.},
 year = {2017}
}

Copy | Download

TY  - JOUR
T1  - Control of Flexible Joint Robot Using Integral Sliding Mode and Backstepping
AU  - Sungha Kwon
AU  - Abner Asignacion
AU  - Seungkyu Park
Y1  - 2017/01/16
PY  - 2017
N1  - https://doi.org/10.11648/j.acis.20160406.13
DO  - 10.11648/j.acis.20160406.13
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 95
EP  - 100
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20160406.13
AB  - The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for flexible joint robots by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition of disturbances. The dynamic model of FJR is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.
VL  - 4
IS  - 6
ER  -

Copy | Download