<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This paper proposes and evaluates a novel control approach for trajectory tracking, stability enhancement, and vibration reduction of a flexible joint robot (FJR). The FJR is a 2-degree-of-freedom underactuated nonlinear system that is challenging to control due to vibration, underactuation, uncertainties, and external disturbances. The control objectives are high trajectory tracking performance together with suppressing vibration. The proposed control approach uses integral sliding mode control (ISMC) combined with a barrier function based on back-stepping. This ensures robust and smooth performance by eliminating the reaching phase where sliding mode control (SMC) is typically not robust. Robustness is thus guaranteed from the start. The FJR is modeled as a 4th-order system using Lagrangian mechanics and decomposed into two 2nd-order subsystems for control design. Sliding variables are defined for each subsystem. Using these variables, the proposed control achieves robust trajectory tracking, stability, and vibration reduction. Numerical simulations in MATLAB validate the superior performance of the proposed ISMC-barrier function control compared to conventional ISMC for the FJR. This novel control approach addresses the challenges of controlling this FJR.</p>
</abstract>

This paper proposes and evaluates a novel control approach for trajectory tracking, stability enhancement, and vibration reduction of a flexible joint robot (FJR). The FJR is a 2-degree-of-freedom underactuated nonlinear system that is challenging to control due to vibration, underactuation, uncertainties, and external disturbances. The control objectives are high trajectory tracking performance together with suppressing vibration. The proposed control approach uses integral sliding mode control (ISMC) combined with a barrier function based on back-stepping. This ensures robust and smooth performance by eliminating the reaching phase where sliding mode control (SMC) is typically not robust. Robustness is thus guaranteed from the start. The FJR is modeled as a 4th-order system using Lagrangian mechanics and decomposed into two 2nd-order subsystems for control design. Sliding variables are defined for each subsystem. Using these variables, the proposed control achieves robust trajectory tracking, stability, and vibration reduction. Numerical simulations in MATLAB validate the superior performance of the proposed ISMC-barrier function control compared to conventional ISMC for the FJR. This novel control approach addresses the challenges of controlling this FJR.

Barrier Function-Based Integral Sliding Mode Controller Design for a Single-Link Rotary Flexible Joint Robot

Control and Systems Engineering Department

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

This paper proposes and evaluates a novel control approach for trajectory tracking, stability enhancement, and vibration reduction of a flexible joint robot...

Barrier Function-Based Integral Sliding Mode Controller Design for a Single-Link Rotary Flexible Joint Robot

Article Category: Article

Published Online: May 04, 2024

Page range: -

Received: Sep 13, 2023

DOI: https://doi.org/10.2478/ijssis-2024-0015

Keywords
Flexible Joint Robot, Integral Sliding Mode Control, Barrier Function, Trajectory Tracking, Vibration Reduction

© 2023 Ahmed Mohsen Mohammad et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Barrier Function-Based Integral Sliding Mode Controller Design for a Single-Link Rotary Flexible Joint Robot

Article Category: Article

Published Online: May 04, 2024

Page range: -

Received: Sep 13, 2023

DOI: https://doi.org/10.2478/ijssis-2024-0015

KeywordsFlexible Joint Robot, Integral Sliding Mode Control, Barrier Function, Trajectory Tracking, Vibration Reduction

© 2023 Ahmed Mohsen Mohammad et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
Flexible Joint Robot, Integral Sliding Mode Control, Barrier Function, Trajectory Tracking, Vibration Reduction