TY - JOUR
T1 - Cueing end-effector acceleration of a two-link robotic arm by dynamic averaged sub-gradient integral sliding mode control
AU - Hernandez-Sanchez, Alejandra
AU - Chairez, Isaac
AU - Poznyak, Alexander
AU - Andrianova, Olga
AU - Chertopolokhov, Viktor
N1 - Publisher Copyright:
© 2022 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd.
PY - 2023/7
Y1 - 2023/7
N2 - The primary objective of this research is to determine if the dynamic version of an averaged sub-gradient (ASG) integral siding mode (ISM) controller can effectively handle the end-effector acceleration tracking problem for a two-link robotic arm avoiding singularity conditions. The proposed scheme solves a nonlinear extremum seeking problem that minimizes a non-strictly convex function that depends on the acceleration tracking error defined by the difference between the desired acceleration trajectory and the cueing end-effector acceleration of a two-link robotic arm in a 2D-plane. A second-order differential equation drives the proposed dynamic ASG with nonlinear coefficients and a discontinuous right-hand side term, which allows for the achievement of the necessary ISM regime in the presence of considerable errors in the mathematical model description. A special switch between modes allows the controller to track accelerations even in extreme positions (near to the active boundaries of the joint articulations) effectively.
AB - The primary objective of this research is to determine if the dynamic version of an averaged sub-gradient (ASG) integral siding mode (ISM) controller can effectively handle the end-effector acceleration tracking problem for a two-link robotic arm avoiding singularity conditions. The proposed scheme solves a nonlinear extremum seeking problem that minimizes a non-strictly convex function that depends on the acceleration tracking error defined by the difference between the desired acceleration trajectory and the cueing end-effector acceleration of a two-link robotic arm in a 2D-plane. A second-order differential equation drives the proposed dynamic ASG with nonlinear coefficients and a discontinuous right-hand side term, which allows for the achievement of the necessary ISM regime in the presence of considerable errors in the mathematical model description. A special switch between modes allows the controller to track accelerations even in extreme positions (near to the active boundaries of the joint articulations) effectively.
KW - acceleration tracking
KW - average sub-gradient
KW - dynamic imitation
KW - integral sliding controller
KW - sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85143904188&partnerID=8YFLogxK
U2 - 10.1002/asjc.2994
DO - 10.1002/asjc.2994
M3 - Artículo
AN - SCOPUS:85143904188
SN - 1561-8625
VL - 25
SP - 2577
EP - 2587
JO - Asian Journal of Control
JF - Asian Journal of Control
IS - 4
ER -