Nonlinear control of the PUMA robot using the super-twisting sliding mode method and disturbance observer with fault tolerance capability for application in surgery
Authors: Shahmari Khiyabani, S., Allahverdizadeh, A. and Dadash Zadeh, B.
Journal: Tabriz University Mechanical Engineering Journal
Volume: 54
Issue: 3
Publisher: University of Tabriz
DOI: 10.22034/jmeut.2024.60447.3379
Abstract:In the control of surgical robots, very high tracking accuracy, chattering-free control signals, robustness to parametric and nonparametric uncertainties, fault-tolerant capability, and no need for angular velocity measurement sensors are very important. In this article, the proposed control method seeks to solve the mentioned challenges at the same time. In order to increase the tracking accuracy and error convergence speed, as well as to reduce the chattering phenomenon, a combination of second-order sliding mode and super-twisting sliding mode methods has been used. Also, to estimate the uncertainties of the system and angular velocities of the robot, a finite-time convergent disturbance observer based on the high-order sliding mode has been used, which causes accurately estimating the angular velocities of the robot joints and the uncertainty of the system dynamics, as well as decreasing the chattering domain of control signals to also have a significant reduction. The simulation results of the proposed method are presented, and in order to evaluate its performance, the results are compared with previous valid research, which shows a better performance of the proposed method in solving the mentioned challenges.
https://tumechj.tabrizu.ac.ir/article_18618.html
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