Design of a Real Time Path of Motion Using a Sliding Mode Control with a Switching Surface

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Standard

Design of a Real Time Path of Motion Using a Sliding Mode Control with a Switching Surface. / Kunkelmoor, Jörg; Mercorelli, Paolo.
Advanced, Contemporary Control : Proceedings of KKA 2020—The 20th Polish Control Conference, Łódź, Poland, 2020. Hrsg. / Andrzej Bartoszewicz; Jacek Kabziński; Janusz Kacprzyk. Band 1 Cham: Springer Verlag, 2020. S. 197-206 (Advances in Intelligent Systems and Computing; Band 1196).

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Harvard

Kunkelmoor, J & Mercorelli, P 2020, Design of a Real Time Path of Motion Using a Sliding Mode Control with a Switching Surface. in A Bartoszewicz, J Kabziński & J Kacprzyk (Hrsg.), Advanced, Contemporary Control : Proceedings of KKA 2020—The 20th Polish Control Conference, Łódź, Poland, 2020. Bd. 1, Advances in Intelligent Systems and Computing, Bd. 1196, Springer Verlag, Cham, S. 197-206, 20th Polish Control Conference, PCC 2020, Lodz, Polen, 22.06.20. https://doi.org/10.1007/978-3-030-50936-1_17

APA

Kunkelmoor, J., & Mercorelli, P. (2020). Design of a Real Time Path of Motion Using a Sliding Mode Control with a Switching Surface. In A. Bartoszewicz, J. Kabziński, & J. Kacprzyk (Hrsg.), Advanced, Contemporary Control : Proceedings of KKA 2020—The 20th Polish Control Conference, Łódź, Poland, 2020 (Band 1, S. 197-206). (Advances in Intelligent Systems and Computing; Band 1196). Springer Verlag. https://doi.org/10.1007/978-3-030-50936-1_17

Vancouver

Kunkelmoor J, Mercorelli P. Design of a Real Time Path of Motion Using a Sliding Mode Control with a Switching Surface. in Bartoszewicz A, Kabziński J, Kacprzyk J, Hrsg., Advanced, Contemporary Control : Proceedings of KKA 2020—The 20th Polish Control Conference, Łódź, Poland, 2020. Band 1. Cham: Springer Verlag. 2020. S. 197-206. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-030-50936-1_17

Bibtex

@inbook{af860f7638174c15bd1edb29bdc57ce2,
title = "Design of a Real Time Path of Motion Using a Sliding Mode Control with a Switching Surface",
abstract = "Due to an increasing variety of tasks in production systems, the programming of robots becomes more complex. The aim of this work is, therefore, to simplify the work involved in programming of different contours as much as possible. Instead of specifying individual points of a contour in code, only one start and one end position are given. The movement between the two points is changed in real time by a robust control scheme, thus simplifying the programming effort for different contours. In this work, the robot is considered as a black box system and the approach to control consists only of considering the error of position and velocity without model. In the presented case, the development of the controller has shown that an Integral Sliding Mode Control (ISMC) strategy does not provide the desired control quality because of the presence of unavoidable saturating actuators in robots. Furthermore, a better result could be achieved with a Sliding Mode Control (SMC) approach that switches between two predefined surfaces. With this approach, good dynamic performances are obtained, in particular, in terms of overshoot which proves to be drastically reduced. Validations of the proposed method are obtained using real measurements realized on an industrial robot.",
keywords = "Applications, Robots, Sliding Mode Control, Trajectory control",
author = "J{\"o}rg Kunkelmoor and Paolo Mercorelli",
year = "2020",
month = jan,
day = "1",
doi = "10.1007/978-3-030-50936-1_17",
language = "English",
isbn = "978-3-030-50935-4",
volume = "1",
series = "Advances in Intelligent Systems and Computing",
publisher = "Springer Verlag",
pages = "197--206",
editor = "Andrzej Bartoszewicz and Jacek Kabzi{\'n}ski and Janusz Kacprzyk",
booktitle = "Advanced, Contemporary Control",
address = "Germany",
note = "20th Polish Control Conference, PCC 2020, PCC2020 ; Conference date: 22-06-2020 Through 24-06-2020",
url = "https://www.kka.p.lodz.pl/index_e.php",

}

RIS

TY - CHAP

T1 - Design of a Real Time Path of Motion Using a Sliding Mode Control with a Switching Surface

AU - Kunkelmoor, Jörg

AU - Mercorelli, Paolo

N1 - Conference code: 20

PY - 2020/1/1

Y1 - 2020/1/1

N2 - Due to an increasing variety of tasks in production systems, the programming of robots becomes more complex. The aim of this work is, therefore, to simplify the work involved in programming of different contours as much as possible. Instead of specifying individual points of a contour in code, only one start and one end position are given. The movement between the two points is changed in real time by a robust control scheme, thus simplifying the programming effort for different contours. In this work, the robot is considered as a black box system and the approach to control consists only of considering the error of position and velocity without model. In the presented case, the development of the controller has shown that an Integral Sliding Mode Control (ISMC) strategy does not provide the desired control quality because of the presence of unavoidable saturating actuators in robots. Furthermore, a better result could be achieved with a Sliding Mode Control (SMC) approach that switches between two predefined surfaces. With this approach, good dynamic performances are obtained, in particular, in terms of overshoot which proves to be drastically reduced. Validations of the proposed method are obtained using real measurements realized on an industrial robot.

AB - Due to an increasing variety of tasks in production systems, the programming of robots becomes more complex. The aim of this work is, therefore, to simplify the work involved in programming of different contours as much as possible. Instead of specifying individual points of a contour in code, only one start and one end position are given. The movement between the two points is changed in real time by a robust control scheme, thus simplifying the programming effort for different contours. In this work, the robot is considered as a black box system and the approach to control consists only of considering the error of position and velocity without model. In the presented case, the development of the controller has shown that an Integral Sliding Mode Control (ISMC) strategy does not provide the desired control quality because of the presence of unavoidable saturating actuators in robots. Furthermore, a better result could be achieved with a Sliding Mode Control (SMC) approach that switches between two predefined surfaces. With this approach, good dynamic performances are obtained, in particular, in terms of overshoot which proves to be drastically reduced. Validations of the proposed method are obtained using real measurements realized on an industrial robot.

KW - Applications

KW - Robots

KW - Sliding Mode Control

KW - Trajectory control

UR - http://www.scopus.com/inward/record.url?scp=85088210624&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-50936-1_17

DO - 10.1007/978-3-030-50936-1_17

M3 - Article in conference proceedings

AN - SCOPUS:85088210624

SN - 978-3-030-50935-4

VL - 1

T3 - Advances in Intelligent Systems and Computing

SP - 197

EP - 206

BT - Advanced, Contemporary Control

A2 - Bartoszewicz, Andrzej

A2 - Kabziński, Jacek

A2 - Kacprzyk, Janusz

PB - Springer Verlag

CY - Cham

T2 - 20th Polish Control Conference, PCC 2020

Y2 - 22 June 2020 through 24 June 2020

ER -

DOI

Zuletzt angesehen

Projekte

  1. Globalands

Publikationen

  1. Recurrence Quantification Analysis of Processes and Products of Discourse
  2. Accounting and Modeling as Design Metaphors for CEMIS
  3. Towards a Global Script?
  4. Challenges in detecting proximal effects of existential threat on lie detection accuracy
  5. Predicate‐based model of problem‐solving for robotic actions planning
  6. A survey of empirical studies using transaction level data on exports and imports
  7. Polar Coordinates and Interactive Learning
  8. Increased Reliability of Draw-In Prediction in a Single Stage Deep-Drawing Operation via Transfer Learning
  9. Mechanical behavior, microstructural evolution and texture analysis of AA2024-T351 processed by multi-layer friction surfacing with high build rates
  10. Effect of silicon content on hot working, processing maps, and microstructural evolution of cast TX32-0.4Al magnesium alloy
  11. Mechanistic Realization of the Turtle Shell
  12. Hybrid modelling by machine learning corrections of analytical model predictions towards high-fidelity simulation solutions
  13. How difficult is the adaptation of POS taggers?
  14. Intellectual Property Issues in Space Contracts
  15. Learning how to request using textbooks
  16. Spaces with a temper
  17. Do connectives improve the level of understandability in mathematical reality-based tasks?
  18. Temperature control in Peltier cells comparing sliding mode control and PID controllers
  19. Interplays between relational and instrumental values
  20. Comparison of modeling approaches based on the microstructure of thermally sprayed coatings
  21. rSOESGOPE Method Applied to Four-Tank System Modeling
  22. Non-invariance? An Overstated Problem With Misconceived Causes
  23. Analytics and Intuition in the Process of Selecting Talent
  24. Using rating scales for the assessment of physical self-concept
  25. Principled Interpolation in Normalizing Flows
  26. Learning with summaries
  27. Facing Up to Third Party Liability for Space Activities
  28. Extraterritorial Asylum Processing. The Libya-Niger Emergency Transit Mechanism
  29. Comparison of Backpropagation and Kalman Filter-based Training for Neural Networks
  30. How much can we learn about voluntary climate action from behavior in public goods games?
  31. A dynamic perspective on affect and creativity
  32. Investigating Factors on R estorative Sleep Quality and its Relationship with Personal Work Performance - An Analysis of Diary Data
  33. An introduction to sliding mode control for interdisciplinary education
  34. Leaf trait variation within individuals mediates the relationship between tree species richness and productivity