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Optimization of Sliding Mode Control to Save Energy in a SCARA Robot

Author

Listed:
  • Luis Arturo Soriano

    (Departamento de Ingeniería Mecánica Agrícola, Universidad Autónoma Chapingo, Km. 38.5 Carretera México-Texcoco, Texcoco 56235, Mexico)

  • José de Jesús Rubio

    (Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico)

  • Eduardo Orozco

    (Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico)

  • Daniel Andres Cordova

    (Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico)

  • Genaro Ochoa

    (Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico)

  • Ricardo Balcazar

    (Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico)

  • David Ricardo Cruz

    (Instituto Tecnológico de Tlalnepantla, Tecnológico Nacional de México, Av. Instituto Tecnológico s/n, Col. La Comunidad, Tlalnepantla de Baz 54070, Mexico)

  • Jesus Alberto Meda-Campaña

    (Sección de Estudios de Posgrado e Investigación, ESIME Zacatenco, Instituto Politécnico Nacional, Av. IPN s/n, Col. Lindavista, Gustavo A. Madero, Mexico City 07738, Mexico)

  • Alejandro Zacarias

    (Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico)

  • Guadalupe Juliana Gutierrez

    (Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico)

Abstract

Sliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of the gains in the controller could produce bigger forces than are required to move the robots, which requires spending a large amount of energy. In the literature, several approaches were used to manage these features, but some proposals are complex and require tuning the gains. In this work, a sliding mode controller was designed and optimized in order to save energy in the position-tracking problem of a two-degree-of-freedom SCARA robot. The sliding mode controller gains were optimized usinga Bat algorithm to save energy by minimizing the forces. Finally, two controllers were designed and implemented in the simulation, and as a result, adequate controller gains were found that saved energy by minimizing the forces.

Suggested Citation

  • Luis Arturo Soriano & José de Jesús Rubio & Eduardo Orozco & Daniel Andres Cordova & Genaro Ochoa & Ricardo Balcazar & David Ricardo Cruz & Jesus Alberto Meda-Campaña & Alejandro Zacarias & Guadalupe , 2021. "Optimization of Sliding Mode Control to Save Energy in a SCARA Robot," Mathematics, MDPI, vol. 9(24), pages 1-16, December.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:24:p:3160-:d:697678
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    Citations

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    Cited by:

    1. Xiaoyu Yang & Haisheng Yu, 2023. "Optimized Cooperative Control of Error Port-Controlled Hamiltonian and Adaptive Backstepping Sliding Mode for a Multi-Joint Industrial Robot," Mathematics, MDPI, vol. 11(6), pages 1-20, March.
    2. Andrej Sarjaš & Dušan Gleich, 2022. "Toward Embedded System Resources Relaxation Based on the Event-Triggered Feedback Control Approach," Mathematics, MDPI, vol. 10(4), pages 1-18, February.
    3. Xiaodong Lv & Guangming Zhang & Gang Wang & Mingxiang Zhu & Zhihan Shi & Zhiqing Bai & Igor V. Alexandrov, 2022. "Numerical Analyses and a Nonlinear Composite Controller for a Real-Time Ground Aerodynamic Heating Simulation of a Hypersonic Flying Object," Mathematics, MDPI, vol. 10(16), pages 1-35, August.
    4. Yu Li & Liang Wang, 2022. "Kinematic Model and Redundant Space Analysis of 4-DOF Redundant Robot," Mathematics, MDPI, vol. 10(4), pages 1-17, February.
    5. Hu, Yifan & Liu, Wenhui & Liu, Guobao, 2022. "Adaptive finite‐time event‐triggered control for uncertain nonlinearly parameterized systems with unknown control direction and actuator failures," Applied Mathematics and Computation, Elsevier, vol. 435(C).
    6. Amin Najafi & Mai The Vu & Saleh Mobayen & Jihad H. Asad & Afef Fekih, 2022. "Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs," Mathematics, MDPI, vol. 10(16), pages 1-22, August.
    7. Li, Jinghan & Zhao, Jun, 2022. "Bumpless transfer based event-triggered control for switched linear systems with state-dependent switching," Applied Mathematics and Computation, Elsevier, vol. 430(C).

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