OPTIMAL INTEGRAL SLIDING MODE CONTROL WITH SETPOINT FILTER FOR UNCERTAIN ROBOTIC MANIPULATORS

NORSAHPERI, NOR MOHD HAZIQ (2021) OPTIMAL INTEGRAL SLIDING MODE CONTROL WITH SETPOINT FILTER FOR UNCERTAIN ROBOTIC MANIPULATORS. Doctoral thesis, Universiti Teknologi Malaysia.

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Abstract

Articulated robotic manipulators inherit uncertainties from its complex nonlinear features, strong coupling effects, parameter uncertainties, and unmodelled dynamics while prone to external disturbances. These uncertainties have adverse effect on the angular position tracking performance of articulated robotic manipulators. In addition to the robust tracking performance, there is also a need to reduce the energy consumption of articulated robotic manipulators. This thesis presents an Improved Optimal Integral Sliding Mode Control (IOISMC) to increase the angular position tracking performance of articulated robotic manipulators with reduction of energy consumption. While the IOISMC enhances the capability of an Optimal Integral Sliding Mode Control (OISMC) with an additional optimal integral output feedback action, there is a trade-off between the overshoot and the angular position accuracy. Therefore, a control structure consists of the IOISMC and an output-based setpoint filter (IOISMC-SP) is also proposed in this study. The idea is proven in three ways: (1) a strong theoretical framework; (2) extensive simulations; and (3) experimental validation on a laboratory articulated robotic manipulator. For the performance comparisons, an Integral Sliding Mode Controller (ISMC), an ISMC tuned by Particle Swarm Optimisation with Spreading Factor (ISMC-PSO) and an OISMC are benchmarked against the IOISMC and the IOISMC-SP. From simulation study of a 2-DOF articulated robotic manipulator, one interesting finding is that the IOISMC significantly improves the angular position tracking responses and energy consumptions by around 95% and 27%–57% improvements, respectively as compared with the OISMC under the unmodelled dynamics, coupling effects, parameter uncertainties, and external disturbances. For a 3-DOF articulated robotic manipulator application, the advantage of IOISMC-SP over IOISMC is confirmed by achieving a near zero overshoot through simulation study. In similar application, the superiority of IOISMC-SP over OISMC is shown by a 30% improvement in the angular position tracking performance, with no significant difference in energy consumption under the unmodelled dynamics, parameter uncertainties, and time-varying input reference. A significant finding is demonstrated in the experiments under similar conditions with a 10% reduction in the energy consumption and only a 2% deterioration in the angular position tracking performance by the IOISMC-SP as compared with the ISMC-PSO. Further simulated performance comparisons are conducted using a 6-DOF articulated robotic manipulator to demonstrate a higher robustness of the IOISMC-SP as compared with the ISMC-PSO and OISMC under the unmodelled dynamics, parameter uncertainties, and external disturbances. The IOISMC-SP achieves approximately 21% and 7%–11% improvements in the angular position tracking performances, respectively with around 96%-98% reductions in energy consumption. Taken together, the clear benefits of the IOISMC and the IOISMC-SP are tractable controller design that reduces energy consumption without compromising the angular position tracking performance of robotic manipulators. Furthermore, the results from this study suggest that both proposed controllers can guarantee the robustness of the system against the aforementioned uncertainties throughout the system response and alleviate chattering.

Item Type:	Thesis (Doctoral)
Subjects:	Technology > Electrical engineering. Electronics Nuclear engineering
Depositing User:	ENCIK SAIFUL FADZLY JAMALUDIN
Date Deposited:	08 Jul 2026 13:17
Last Modified:	08 Jul 2026 13:17
URI:	https://repositori.mohe.gov.my/id/eprint/319

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