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Quasi-Continuous Second Order Sliding Mode Control of Revolute-Revolute Manipulator with Noisy Feedback Signals & Modelling Uncertainties

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Abstract

First order Sliding Mode Control (SMC1) is used to control robotic manipulators deployed in industrial applications. However, the tracking performance of SMC1 is affected by modelling uncertainties, disturbance, and noisy measurement signals. In addition, SMC1 introduces an undesirable chattering effect that causes vibrations and reduces the manipulator positioning accuracy. This work investigates deployment of a Quasi-Continuous second order Sliding Mode Control (QCSMC) and its stability, over a nonlinear multilink Revolute-Revolute (RR) manipulator, to enhance the manipulator tracking performance, and reduce the chattering effect under the presence of modelling uncertainties, disturbance, and noisy state measurement. This investigation work introduces the manipulator’s dynamics modelling, forward and inverse kinematic solutions. The study then shows the desired joint space trajectory solution, whereby modelling uncertainties are considered. The work presents an online uncertainty quantification analysis to investigate the controller performance and stability with parameter change. SMC1 and QCSMC are then deployed to follow extracted trajectories under the effect of model-parameter-change, noisy measurement, and disturbance signals. Simulation results show that performance of QCSMC, overcomes the performance of SMC1, under the considered simulation conditions. Simulation results were further endorsed through experimentation methods by an NXT-based RR manipulator prototype. Simulation results demonstrate that applying QCSMC have reduced the associated joint-space trajectory root mean square errors (RMSE) when compared to SMC1 associated RMSE results. The enhancement reached an average of (84% to 97%) with infused model change and (64% to 79%) enhancement with infused disturbance. However, QCSMC shows a 2% RMSE value enhancement for the case of infused measurement noise when compared to SMC1. Experimental results demonstrate that the associated RMSE have also reduced by applying QCSMC when compared to SMC1. The experimental scenario nature includes a combined effect of modelling uncertainties, disturbances and measurement noise all applied together. Experimental scenario 1 shows that applying QCSMC have reduced the tracking RMSE for the first revolute joint angular position by 10%, and for the second joint angular position by 5% when compared to SMC 1 associated tracking RMSE values. Experimental scenario 2 shows a similar trend with 3% RMSE tracking enhancement for the second joint angular position when QCSMC is applied. Simulation and Experimental results agree, QCSMC introduces a better performance than SMC1, implying an enhanced performance, with less tracking errors, reduced chattering effect and higher robustness with reduced vibrations. In addition, the provided results signify robustness of both controllers against uncertainties and noise with better performance for QCSMC over SMC1.

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Author information

Authors and Affiliations

  1. Mechanical Engineering Department, Jordan University of Science & Technology, Irbid, 22110, Jordan

    Khaled S. Hatamleh & Mohammad A. Jaradat

  2. Mechanical Engineering Department, American University of Sharjah, Sharjah, UAE

    Mohammad A. Jaradat

  3. Aerospace Engineering, San Diego State University, 5500 Campanile Drive, San Diego, CA, 92182-1308, USA

    Ahmad Bani Younes

  4. Mechanical Engineering, Al Hussein Technical University, Amman, 11831-139, Jordan

    Ahmad Bani Younes

  5. Department of Mechanical and Nuclear Engineering, University of Sharjah, Sharjah, UAE

    Mohammad Al-Shabi

  6. College of Engineering and Physical Sciences, University of Guelph, Guelph, Ontario, N1G 2W1, Canada

    Mohammad Al-Shabi

  7. Department of Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, John T. Rettaliata Engineering Center 10 West 32nd Street, Room 261, Chicago, Chicago, IL, USA

    Osama Abdul Hafez

Authors
  1. Khaled S. Hatamleh
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  2. Mohammad A. Jaradat
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  3. Ahmad Bani Younes
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  4. Mohammad Al-Shabi
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  5. Osama Abdul Hafez
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Correspondence to Khaled S. Hatamleh.

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Hatamleh, K.S., Jaradat, M.A., Younes, A.B. et al. Quasi-Continuous Second Order Sliding Mode Control of Revolute-Revolute Manipulator with Noisy Feedback Signals & Modelling Uncertainties. J Intell Robot Syst 103, 35 (2021). https://doi.org/10.1007/s10846-021-01464-5

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