Abstract
The so-called continuum robots have become unprecedentedly omnipresent in various fields because of their flexibility and dexterity. They can dexterously adapt to almost any trajectory in their accessible workspace. On the other hand, continuum robots have infinite degrees of freedom, which makes their modeling and controlling challenging, complex and difficult task. To this end, in this paper, an optimized nonlinear sliding mode control algorithm is developed for the sake of controlling the continuum robot’s end effector. To achieve satisfactory performance, an adequate nonlinear sliding mode surface is purposefully used. Then, the controller parameters are optimized using the adaptive particle swarm optimization algorithm. The performance of the proposed controller is assessed by considering two trajectories. Furthermore, the performance of the optimized proportional integral derivative controller is compared with the optimized sliding mode control scheme. Finally, the simulation results demonstrate that the proposed controller provides better performance in terms of settling time, overshoot and robustness against several disturbances than the other considered controllers.
Similar content being viewed by others
References
Alqumsan, A. A., Khoo, S., & Norton, M. (2019). Multi-surface sliding mode control of continuum robots with mismatched uncertainties. Meccanica, 54(14), 2307–2316. https://doi.org/10.1007/s11012-019-01072-6
Alqumsan, A. A., Khoo, S., & Norton, M. (2019). Robust control of continuum robots using cosserat rod theory. Mechanism and Machine Theory, 131, 48–61. https://doi.org/10.1016/j.mechmachtheory.2018.09.011
Amouri, A., Zaatri, A., & Mahfoudi, C. (2018). Dynamic modeling of a class of continuum manipulators in fixed orientation. Journal of Intelligent & Robotic Systems, 91(3), 413–424. https://doi.org/10.1007/s10846-017-0734-z
Amouri, A., Mahfoudi, C., & Zaatri, A. (2019). Dynamic modeling of a spatial cable-driven continuum robot using euler-lagrange method. International Journal of Engineering and Technology Innovation, 10(1), 60. https://doi.org/10.46604/ijeti.2020.4422
Ba, W., Dong, X., Mohammad, A., Wang, M., Axinte, D., & Norton, A. (2021). Design and validation of a novel fuzzy-logic-based static feedback controller for tendon-driven continuum robots. IEEE/ASME Transactions on Mechatronics. https://doi.org/10.1109/TMECH.2021.3050263
Djeffal, S., Amouri, A., & MAHFOUDI, C. (2021). Kinematics modeling and simulation analysis of variable curvature kinematics continuum robots. UPB Scientific Bulletin, Series D: Mechanical Engineering, 83, 28–42.
Doroudchi, A., & Berman. S. (2021). Configuration tracking for soft continuum robotic arms using inverse dynamic control of a cosserat rod model. In: 2021 IEEE International Conference on Soft Robotics, RoboSoft.
Ebrahimi, M. M., Piltan, F., Bazregar, M., & Nabaee, A. (2013). Intelligent robust fuzzy-parallel optimization control of a continuum robot manipulator. International Journal of Control and Automation, 6(3), 15–34.
Esmaeilzadeh, S. M., Golestani, M., & Mobayen, S. (2021). Chattering-free fault-tolerant attitude control with fast fixed-time convergence for flexible spacecraft. International Journal of Control, Automation and Systems, 19(2), 767–776. https://doi.org/10.1007/s12555-020-0043-3
Gao, G., Ren, H., Xia, Q., Wang, H., & Li, L. (2018). Stretched backboneless continuum manipulator driven by cannula tendons. Industrial Robot: An International Journal. https://doi.org/10.1108/IR-06-2017-0124
Gao, G., Wang, H., Fan, J., Xia, Q., Li, L., & Ren, H. (2019). Study on stretch-retractable single-section continuum manipulator. Advanced Robotics, 33(1), 1–12. https://doi.org/10.1080/01691864.2018.1554507
Gao, X., Li, X., Sun, Y., Hao, L., Yang, H., & Xiang, C. (2020). Model-free tracking control of continuum manipulators with global stability and assigned accuracy. IEEE Transactions on Systems, Man, and Cybernetics: Systems.https://doi.org/10.1109/TSMC.2020.3018756
Goharimanesh, M., Mehrkish, A., & Janabi-Sharifi, F. (2020). A fuzzy reinforcement learning approach for continuum robot control. Journal of Intelligent & Robotic Systems, 100(3), 809–826. https://doi.org/10.1007/s10846-020-01237-6
He, B., Wang, Z., Li, Q., Xie, H., & Shen, R. (2013). An analytic method for the kinematics and dynamics of a multiple-backbone continuum robot. International Journal of Advanced Robotic Systems, 10(1), 84. https://doi.org/10.5772/54051
Hirose, S., & Mori, M. (2004). Biologically inspired snake-like robots. In: 2004 IEEE International Conference on Robotics and Biomimetics, IEEE, pp 1–7, https://doi.org/10.1109/ROBIO.2004.1521742.
Karami, H., Mobayen, S., Lashkari, M., Bayat, F., & Chang, A. (2021). Lmi-observer-based stabilizer for chaotic systems in the existence of a nonlinear function and perturbation. Mathematics, 9(10), 1128. https://doi.org/10.3390/math9101128
Laschi, C., Mazzolai, B., Mattoli, V., Cianchetti, M., & Dario, P. (2009). Design of a biomimetic robotic octopus arm. Bioinspiration & Biomimetics.https://doi.org/10.1088/1748-3182/4/1/015006
Li, M., Kang, R., Geng, S., & Guglielmino, E. (2018). Design and control of a tendon-driven continuum robot. Transactions of the Institute of Measurement and Control, 40(11), 3263–3272. https://doi.org/10.1177/0142331216685607
Peng, Y., Liu, Y., Yang, Y., Liu, N., Sun, Y., Liu, Y., Pu, H., Xie, S., & Luo, J. (2019). Development of continuum manipulator actuated by thin mckibben pneumatic artificial muscle. Mechatronics, 60, 56–65. https://doi.org/10.1016/j.mechatronics.2019.05.001
Qi, F., Chen, B., Gao, S., & She, S. (2021). Dynamic model and control for a cable-driven continuum manipulator used for minimally invasive surgery. The International Journal of Medical Robotics and Computer Assisted Surgery, 17(3), e2234. https://doi.org/10.1002/rcs.2234
Rahmani, R., Mobayen, S., Fekih, A., & Ro, J. S. (2021). Robust passivity cascade technique-based control using rbfn approximators for the stabilization of a cart inverted pendulum. Mathematics, 9(11), 1229. https://doi.org/10.3390/math9111229
Renda, F., Cianchetti, M., Giorelli, M., Arienti, A., & Laschi, C. (2012). A 3d steady-state model of a tendon-driven continuum soft manipulator inspired by the octopus arm. Bioinspiration & Biomimetics, 7(2), 025006. https://doi.org/10.1088/1748-3182/7/2/025006
Shi, Y., & Eberhart, R. (1998). A modified particle swarm optimizer. In: 1998 IEEE international conference on evolutionary computation proceedings. IEEE world congress on computational intelligence (Cat. No. 98TH8360), IEEE, pp 69–73, https://doi.org/10.1109/ICEC.1998.699146.
Trivedi, D., Rahn, C. D., Kier, W. M., & Walker, I. D. (2008). Soft robotics: Biological inspiration, state of the art, and future research. Applied bionics and biomechanics, 5(3), 99–117. https://doi.org/10.1080/11762320802557865
Wang, C., Frazelle, CG., Wagner, JR., & Walker, ID. (2020). A discrete-jointed robot model based control strategy for spatial continuum manipulators. In: IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, IEEE, pp 543–549, https://doi.org/10.1109/IECON43393.2020.9255340.
Wang, H., Wang, C., Chen, W., Liang, X., & Liu, Y. (2016). Three-dimensional dynamics for cable-driven soft manipulator. IEEE/ASME Transactions on Mechatronics, 22(1), 18–28. https://doi.org/10.1109/TMECH.2016.2606547
Wang, Z., Wang, T., Zhao, B., He, Y., Hu, Y., Li, B., Zhang, P., & Meng, M. Q. H. (2021). Hybrid adaptive control strategy for continuum surgical robot under external load. IEEE Robotics and Automation Letters, 6(2), 1407–1414. https://doi.org/10.1109/LRA.2021.3057558
Acknowledgements
This work is supported by the DGRSDT (Direction Générale de la Recherche Scientifique et du Développement Technologique), Algeria.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Ghoul, A., Kara, K., Benrabah, M. et al. Optimized Nonlinear Sliding Mode Control of a Continuum Robot Manipulator. J Control Autom Electr Syst 33, 1355–1363 (2022). https://doi.org/10.1007/s40313-022-00914-1
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s40313-022-00914-1