Minimum-time Sliding Mode Control of Robot Manipulators

Main researchers: Boyko Iliev, Ivan Kalaykov

External collaborations: Advanced Control System Laboratory, Systems and Control Dept., Technical University, Sofia, Bulgaria

External sponsors: KKS

One of the challenging problems in the field of robot control is how to make a robot manipulator to move as fast as possible without violating the accuracy requirements. The complexity of the problems stems from the fact that the robot manipulators have inherently nonlinear dynamics and experience large parameter variations during operation. In such situation the classical optimal control theory cannot be applied directly. We try to solve the problem utilising the robustness properties of the systems in sliding mode. Using a special form of the sliding surface, performance close to the time-optimal can be achieved even in the presence of high degree of uncertainty.

To verify the obtained results we will carry out experiments on two custom light-weight robot arms PANDI-1 and PANDI-2 and a dedicated robot controller, all developped at the AASS Intelligent Control Lab.

Publications:

B. Iliev and I. Kalaykov. "Improved Sliding Mode Robot Control - a Fuzzy Approach" In Proc. 3rd International Workshop on Robot Motion and Control RoMoCo'02, Nov 9-11, 2002, Bukowy Dworek, Poland

I. Kalaykov and B. Iliev, Time-optimal sliding mode Control of robot manipulators, in Proc. IEEE Conf. On Industrial Electronics, Control and Instrumentation IECON-2000, Nagoya, Japan, October 22-28, 2000