Skip to main content
SpringerLink
Log in

Bidirectional Position Control of a Prismatic joint for Motorized Single Link Robotic Arm Using Adaptive Super- Twisting Sliding Mode Control

  • ORIGINAL CONTRIBUTION
  • Published:
Journal of The Institution of Engineers (India): Series B Aims and scope Submit manuscript

Abstract

Design of the dual layer adaptive super-twisting sliding mode control (ASTSMC) strategy for position control of a motorized single link flexible robotic arm is presented in this article.The system comprises of a cantilever beam, the robotic arm whose horizontal sliding enables positioning at the required length. Prismatic joint at the fixed extremity of the flexure is positioned at the desired point (the set length) by a linear actuation system- the DC motor and the lead-screw. The parameters and hence the model of the DC motor is determined using the nonlinear least-square (NLS) parameter estimation method. The flexible manipulator is modeled using the lumped parameter model approach. The super twisting algorithm and adaptive law are designed in combination to control the position of the robotic arm; the performance of the adaptive SMC controller is compared with that of the classical PID controller and SMC. The simulated and experimental results show that positioning accuracy is ensured and the response time is improved by the ASTSMC controller.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

Similar content being viewed by others

References

  1. M. Banu Sundareswari, G. Then Mozhi, K. Dhanalakshmi, Angular control of differential shape-memory alloy spring actuator for underactuated dynamic system. J. Vib. Control. 19–20, 2829–2843 (2022)

    Article  Google Scholar 

  2. J. Becedas, G. Mamani, V. Feliu, Algebraic parameters identification of DC motors: methodology and analysis. Int. J. Syst. Sci. 41(10), 1241–1255 (2010)

    Article  MathSciNet  MATH  Google Scholar 

  3. C. Sun, W. He, J. Hong, Neural network control of a flexible robotic manipulator using the lumped spring-mass model. IEEE Trans. Syst. Man Cybern. 47(8), 1863–1874 (2017)

    Article  Google Scholar 

  4. S. Biricik, H. Komurcugil, H. Ahmed, E. Babaei, Super twisting sliding-mode control of DVR with frequency-adaptive Brockett oscillator. IEEE Trans. Ind. Electron. 68(11), 10730–10739 (2020)

    Article  Google Scholar 

  5. C.F. Castillo-Berrio, S.N. Engin, V. Feliu-Batlle, A study on the tip tracking control of a single flexible beam. Trans. Inst. Meas. Control. 38(5), 602–617 (2017)

    Article  Google Scholar 

  6. S. Mobayen, F. Tchier, L. Ragoub, Design of an adaptive tracker for n-link rigid robotic manipulators based on super-twisting global nonlinear sliding mode control. Int. J. Syst. Sci. 48(9), 1990–20024 (2017)

    Article  MathSciNet  MATH  Google Scholar 

  7. C. Edwards, Y. Shtessel, Adaptive dual-layer super-twisting control and observation. Int. J. Control. 89(9), 1759–1766 (2016)

    Article  MathSciNet  MATH  Google Scholar 

  8. Y.J. Ma, H. Zhao, T. Li, Robust adaptive dual layer sliding mode controller: Methodology and application of uncertain robot manipulator. Trans. Inst. Meas. Control. 44(4), 848–860 (2021)

    Article  Google Scholar 

  9. J.-J. Slotine, Sliding controller design for non-linear systems. Int. J. Control 40(2), 421–434 (1984)

    Article  MathSciNet  MATH  Google Scholar 

Download references

Funding

The authors declare that no funds, grants, or other support were received for the preparation of this manuscript.

Author information

Authors and Affiliations

  1. Department of Instrumentation and Control Engineering, National Institute of Technology, Tiruchirappalli, Tiruchirappalli, 620015, India

    G. Then Mozhi, M. Banu Sundareswari & K. Dhanalakshmi

Authors
  1. G. Then Mozhi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. M. Banu Sundareswari
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. K. Dhanalakshmi
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to K. Dhanalakshmi.

Ethics declarations

Competing interest

The authors have no relevant financial or non-financial interests to disclose.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Then Mozhi, G., Banu Sundareswari, M. & Dhanalakshmi, K. Bidirectional Position Control of a Prismatic joint for Motorized Single Link Robotic Arm Using Adaptive Super- Twisting Sliding Mode Control. J. Inst. Eng. India Ser. B 104, 1035–1042 (2023). https://doi.org/10.1007/s40031-023-00908-w

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s40031-023-00908-w

Keywords

Search

Navigation