Open AccessDecentralized Integral Nested Sliding Mode Control for Time Varying Constrained Modular and Reconfigurable Robot
Author(s) -
Bo Dong,
Yuanchun Li
Publication year - 2014
Publication title -
advances in mechanical engineering/advances in mechanical engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.318
H-Index - 40
eISSN - 1687-8140
pISSN - 1687-8132
DOI - 10.1155/2014/317127
Subject(s) - control theory (sociology) , modular design , integral sliding mode , controller (irrigation) , trajectory , control engineering , computer science , lyapunov stability , sliding mode control , robot , lyapunov function , stability (learning theory) , engineering , control (management) , nonlinear system , physics , quantum mechanics , artificial intelligence , astronomy , machine learning , agronomy , biology , operating system
This paper presents a novel decentralized integral nested sliding mode control approach for a time varying constrained modular and reconfigurable robot (MRR) and addresses the problem of joint trajectory tracking control of the MRR with strongly coupled model uncertainty. First, the dynamic model of the time varying constrained MRR is described as a synthesis of interconnected subsystems. Second, a decentralized control scheme is proposed based on only local dynamic information of each module. An integral nested sliding surface is implemented to reduce the chattering effect of the controller. Model uncertainties, including the unmodeled subsystem dynamics, the friction modeling error, and the interconnected dynamic coupling, are compensated by a variable gain supertwisting algorithm (VGSTA) based controller. The stability of the close-loop system is proved using the Lyapunov theory. Finally, simulations are performed for a time varying constrained 2-DOF MRR to study the effectiveness of the proposed method