An Adaptive Sliding Mode Control with Integral Sliding Surface for 3DOF SCARA Manipulators
Received: 17 January 2025 | Revised: 4 March 2025 and 13 March 2025 | Accepted: 17 March 2025 | Online: 3 April 2025
Corresponding author: Kawiwat Amnatchotiphan
Abstract
This paper presents an adaptive sliding mode control algorithm with an integral sliding surface variable modification for a 3-Degree-Of-Freedom (3DOF) Selective Compliance Articulated Robot Arm (SCARA) with a variable mass at the end-effector. This control technique allows establishing a control law more conveniently compared to conventional sliding mode control methods, as it does not require precise knowledge of the manipulator's dynamic model and does not demand a priori bounded uncertainty or disturbance information. A computational study was carried out to evaluate the performance of the proposed control law and compare it with various motion control techniques, including Proportional-Integral-Derivative (PID) control and traditional sliding mode control. This study used a point-to-point trajectory profile based on a cubic function to assess the tracking performance of different control methods. The computational study involved two scenarios: one without uncertainties and disturbances, and another in which these factors were present. The results show that the proposed method improves joint tracking accuracy over PID control and significantly reduces chattering compared to traditional sliding mode control, both under normal and disturbed conditions, highlighting the effectiveness of the proposed algorithm.
Keywords:
3DOF SCARA, adaptive sliding mode control, chattering, uncertainties and disturbancesDownloads
References
S. Suri, A. Jain, N. Verma, and N. Prasertpoj, "SCARA Industrial Automation Robot," in 2018 International Conference on Power Energy, Environment and Intelligent Control (PEEIC), Greater Noida, India, Apr. 2018, pp. 173–177.
A. Misra, A. Sharma, G. Singh, A. Kumar, and V. Rastogi, "Design and Development ofa Low-Cost CNC Alternative SCARA Robotic Arm," Procedia Computer Science, vol. 171, pp. 2459–2468, Jan. 2020.
F. Núñez, B. Madrid, J. Chávez, and M. J. Madrid, "SCARA Robot Arm for Disassembly Tasks," in 2024 9th International Conference on Control and Robotics Engineering (ICCRE), Osaka, Japan, May 2024, pp. 202–206.
W. Yu and J. Rosen, "A novel linear PID controller for an upper limb exoskeleton," in 49th IEEE Conference on Decision and Control (CDC), Atlanta, GA, USA, Dec. 2010, pp. 3548–3553.
R. P. Borase, D. K. Maghade, S. Y. Sondkar, and S. N. Pawar, "A review of PID control, tuning methods and applications," International Journal of Dynamics and Control, vol. 9, no. 2, pp. 818–827, Jun. 2021.
O. Saleem, K. R. Ahmad, and J. Iqbal, "Fuzzy-Augmented Model Reference Adaptive PID Control Law Design for Robust Voltage Regulation in DC–DC Buck Converters," Mathematics, vol. 12, no. 12, Jan. 2024, Art. no. 1893.
S. H. Tay, W. H. Choong, and H. P. Yoong, "A Review of SCARA Robot Control System," in 2022 IEEE International Conference on Artificial Intelligence in Engineering and Technology (IICAIET), Kota Kinabalu, Malaysia, Sep. 2022, pp. 1–6.
S. Huang and D. Yang, "Fuzzy logic controller for a SCARA robot with synchronous network," International Journal of Computer Applications in Technology, vol. 10, no. 1–2, pp. 15–26, Jan. 1997.
Y. Oktarina, F. Septiarini, T. Dewi, P. Risma, and M. Nawawi, "Fuzzy-PID Controller Design of 4 DOF Industrial Arm Robot Manipulator.," Computer Engineering & Applications Journal, vol. 8, no. 2, 2019.
D. V. Doan, K. Nguyen, and Q. V. Thai, "A Novel Fuzzy Logic Based Load Frequency Control for Multi-Area Interconnected Power Systems," Engineering, Technology & Applied Science Research, vol. 11, no. 4, pp. 7522–7529, Aug. 2021.
O. Saleem, A. Hamza, and J. Iqbal, "A Fuzzy-Immune-Regulated Single-Neuron Proportional–Integral–Derivative Control System for Robust Trajectory Tracking in a Lawn-Mowing Robot," Computers, vol. 13, no. 11, Nov. 2024, Art. no. 301.
M. A. Al-Khedher and M. S. Alshamasin, "SCARA robot control using neural networks," in 2012 4th International Conference on Intelligent and Advanced Systems (ICIAS2012), Kuala Lumpur, Malaysia, Jun. 2012, pp. 126–130.
Y. He et al., "Dynamic Modeling, Simulation, and Experimental Verification of a Wafer Handling SCARA Robot With Decoupling Servo Control," IEEE Access, vol. 7, pp. 47143–47153, 2019.
J.-J. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, Pearson, 1991.
V. Utkin, A. Poznyak, Y. V. Orlov, and A. Polyakov, Road Map for Sliding Mode Control Design. Springer International Publishing, 2020.
K. Cherif, A. Sahbani, and K. B. Saad, "Performance Evaluation of PI and Sliding Mode Control for PMSM in Applications for Electric Vehicles," Engineering, Technology & Applied Science Research, vol. 14, no. 4, pp. 15464–15470, Aug. 2024.
Y. Xu, R. Liu, J. Liu, and J. Zhang, "A novel constraint tracking control with sliding mode control for industrial robots," International Journal of Advanced Robotic Systems, vol. 18, no. 4, Jul. 2021, Art. no. 17298814211029778.
L. A. Soriano et al., "Optimization of Sliding Mode Control to Save Energy in a SCARA Robot," Mathematics, vol. 9, no. 24, Jan. 2021, Art. no. 3160.
Y. J. Huang, T. C. Kuo, and S. H. Chang, "Adaptive Sliding-Mode Control for NonlinearSystems With Uncertain Parameters," IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol. 38, no. 2, pp. 534–539, Apr. 2008.
F. Plestan, Y. Shtessel, V. Brégeault, and A. Poznyak, "New methodologies for adaptive sliding mode control," International Journal of Control, vol. 83, no. 9, pp. 1907–1919, Sep. 2010.
I. U. Haq et al., "Neural network-based adaptive global sliding mode MPPT controller design for stand-alone photovoltaic systems," PLOS ONE, vol. 17, no. 1, 2022, Art. no. e0260480.
S. Roy, S. Baldi, and L. M. Fridman, "On adaptive sliding mode control without a priori bounded uncertainty," Automatica, vol. 111, Jan. 2020, Art. no. 108650.
T. R. Oliveira, J. P. V. S. Cunha, and L. Hsu, "Adaptive sliding mode control for disturbances with unknown bounds," in 2016 14th International Workshop on Variable Structure Systems (VSS), Nanjing, China, Jun. 2016, pp. 59–64.
L. Zhang, H. Obeid, and S. Laghrouche, "Adaptive Twisting Controller for Linear Induction Motor Considering Dynamic End Effects," in 2018 15th International Workshop on Variable Structure Systems (VSS), Graz, Austria, Jul. 2018, pp. 19–24.
L. Zhang, Y. Wang, Y. Hou, and H. Li, "Fixed-Time Sliding Mode Control for Uncertain Robot Manipulators," IEEE Access, vol. 7, pp. 149750–149763, 2019.
S. Zhen, Z. Zhao, X. Liu, F. Chen, H. Zhao, and Y.-H. Chen, "A Novel Practical Robust Control Inheriting PID for SCARA Robot," IEEE Access, vol. 8, pp. 227409–227419, 2020.
B. Siciliano and O. Khatib, "Robotics and the Handbook," in Springer Handbook of Robotics, B. Siciliano and O. Khatib, Eds. Springer International Publishing, 2016.
C. H. Lin and F. Y. Hsiao, "Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System," Applied Sciences, vol. 10, no. 15, Jan. 2020, Art. no. 5087.
V. S. D. M. Sahu, P. Samal, and C. Kumar Panigrahi, "Modelling, and control techniques of robotic manipulators: A review," Materials Today: Proceedings, vol. 56, pp. 2758–2766, Jan. 2022.
S. Fateh and M. M. Fateh, "Superior Adaptive Fuzzy Sliding Mode Control of Electrically Driven Robot Manipulators," Iranian Journal of Science and Technology, Transactions of Electrical Engineering, vol. 47, no. 2, pp. 491–502, Jun. 2023.
Downloads
How to Cite
License
Copyright (c) 2025 Jatupon Em-Udom, Kawiwat Amnatchotiphan
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.
