Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory

B. Kharabian; H. Bolandi; A. F. Ehyaei; S. K. Mousavi Mashhadi; S. M. Smailzadeh

doi:doi:10.11648/j.ajmie.20170202.12

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Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory

B. Kharabian, H. Bolandi, A. F. Ehyaei, S. K. Mousavi Mashhadi, S. M. Smailzadeh

Published in American Journal of Mechanical and Industrial Engineering (Volume 2, Issue 2)

Received: 20 September 2016 Accepted: 27 December 2016 Published: 20 January 2017

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Abstract

In this paper, a combinational control approach of sliding mode-PID is utilized in free floating space manipulator. Due to float base, nonlinearity of free floating space manipulator dynamics lead to having unstable behaviour and complicated dynamic model. To simplify the dynamic equation, dynamically equivalent manipulator is utilized which is a fixed base manipulator. In this approach, an unique map transfers dynamic parameters of free floating space manipulator to a fixed base manipulator. This transfer enlarges uncertainty bound of parameters. Hence, sliding mode-PID control as a combinational robust control approach is applied in the system. In this case, PID like sliding surface is proposed instead of conventional sliding surface. Adaptive tuning of sliding surface provides a Sliding Cloud that is a kind of dynamic sliding surface. In this way, inclination of system to stable behaviour increases and robustness of system, in the presence of uncertainties, is bolstered.

Published in	American Journal of Mechanical and Industrial Engineering (Volume 2, Issue 2)
DOI	10.11648/j.ajmie.20170202.12
Page(s)	64-71
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2017. Published by Science Publishing Group

Keywords

Space Manipulator, Free Floating, DEM, Sliding Mod-PID, Adaptive Tuning, Sliding Surface, Sliding Cloud

References

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[5]	O. Parlaktuna and M. Ozkan, “Adaptive control of free-floating space manipulators using dynamically equivalent manipulator model”, Robotics and Autonomous Systems, Vol. 46, 185-193, 2004.
[6]	J. H. Shin and J. J. Lee, “Dynamic control with adaptive identification for free-flying space robots in joint space”, Robotica, pp. 12541-551, 1994.
[7]	Y. L. Gu and Y. Xu, “A normal from augmentation approach to adaptive control of space robot systems”, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, pp. 731-737, 1993.
[8]	B. Kharabian, “Fuzzy Sliding Mode-PID Control for Space Manipulator Using Dynamically Equivalent Manipulator Model”, International Journal of Control and Automation Vol. 7, pp. 143-158, 2014.
[9]	H. Okubo, T. Matsudo and N. Katsuda, “Reduction of Control Toque for Space Manipulators Using Dynamic Manipulability Ellipsoid”, International Symposium on Artificial Intelligence, Robotics and Automation in Space, Japan, 2003.
[10]	T. W. Yang, Z. Q. Sun, S. K. TSO and W. L. Xu, “Traje-ctory Control of a Flexible Space Manipulator Utilizing a Macro-Micro Architecture”, IEEE International Confer-ence of Robotics & Automation, Vol. 2, pp. 2522 - 2528, 2003.
[11]	Y. Xu, H. Y. Shum, T. Wade and J. J. Lee, “Parameterization Control of Space and Adaptive Robot Systems”, IEEE Trans. on Aerospace and Electronic Systems, Vol. 30, pp. 435-451, 1994.
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[13]	A. Rhif, “A High Order Sliding Mode Control with PID Sliding Surface: Simulation on a Torped”,. International Journal of Information Technology, Control and Automation (IJITCA), Vol. 2, pp. 13-18, 2012.
[14]	T. H. Tran, Q. P. Ha and H. T. Nguyen, “Robust Non Ove- rshoot Time Responses Using Cascade Sliding Mode-PID Control”, Journal of Advanced Computational Intelligence, Vol. 11, pp. 1224-1231, 2007.
[15]	V. Parra-Vega, S. Arimoto, Y. H. Liu, G. Hirzinger and P. Akella, “Dynamic Sliding PID Control for Tracking of Robot Manipulator: Theory and Experiments”, IEEE Trans. On Robotics and Automation, Vol. 19, pp. 967-976, 2003.
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APA Style

B. Kharabian, H. Bolandi, A. F. Ehyaei, S. K. Mousavi Mashhadi, S. M. Smailzadeh. (2017). Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory. American Journal of Mechanical and Industrial Engineering, 2(2), 64-71. https://doi.org/10.11648/j.ajmie.20170202.12

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ACS Style

B. Kharabian; H. Bolandi; A. F. Ehyaei; S. K. Mousavi Mashhadi; S. M. Smailzadeh. Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory. Am. J. Mech. Ind. Eng. 2017, 2(2), 64-71. doi: 10.11648/j.ajmie.20170202.12

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AMA Style

B. Kharabian, H. Bolandi, A. F. Ehyaei, S. K. Mousavi Mashhadi, S. M. Smailzadeh. Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory. Am J Mech Ind Eng. 2017;2(2):64-71. doi: 10.11648/j.ajmie.20170202.12

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@article{10.11648/j.ajmie.20170202.12,
  author = {B. Kharabian and H. Bolandi and A. F. Ehyaei and S. K. Mousavi Mashhadi and S. M. Smailzadeh},
  title = {Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory},
  journal = {American Journal of Mechanical and Industrial Engineering},
  volume = {2},
  number = {2},
  pages = {64-71},
  doi = {10.11648/j.ajmie.20170202.12},
  url = {https://doi.org/10.11648/j.ajmie.20170202.12},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajmie.20170202.12},
  abstract = {In this paper, a combinational control approach of sliding mode-PID is utilized in free floating space manipulator. Due to float base, nonlinearity of free floating space manipulator dynamics lead to having unstable behaviour and complicated dynamic model. To simplify the dynamic equation, dynamically equivalent manipulator is utilized which is a fixed base manipulator. In this approach, an unique map transfers dynamic parameters of free floating space manipulator to a fixed base manipulator. This transfer enlarges uncertainty bound of parameters. Hence, sliding mode-PID control as a combinational robust control approach is applied in the system. In this case, PID like sliding surface is proposed instead of conventional sliding surface. Adaptive tuning of sliding surface provides a Sliding Cloud that is a kind of dynamic sliding surface. In this way, inclination of system to stable behaviour increases and robustness of system, in the presence of uncertainties, is bolstered.},
 year = {2017}
}

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TY  - JOUR
T1  - Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory
AU  - B. Kharabian
AU  - H. Bolandi
AU  - A. F. Ehyaei
AU  - S. K. Mousavi Mashhadi
AU  - S. M. Smailzadeh
Y1  - 2017/01/20
PY  - 2017
N1  - https://doi.org/10.11648/j.ajmie.20170202.12
DO  - 10.11648/j.ajmie.20170202.12
T2  - American Journal of Mechanical and Industrial Engineering
JF  - American Journal of Mechanical and Industrial Engineering
JO  - American Journal of Mechanical and Industrial Engineering
SP  - 64
EP  - 71
PB  - Science Publishing Group
SN  - 2575-6060
UR  - https://doi.org/10.11648/j.ajmie.20170202.12
AB  - In this paper, a combinational control approach of sliding mode-PID is utilized in free floating space manipulator. Due to float base, nonlinearity of free floating space manipulator dynamics lead to having unstable behaviour and complicated dynamic model. To simplify the dynamic equation, dynamically equivalent manipulator is utilized which is a fixed base manipulator. In this approach, an unique map transfers dynamic parameters of free floating space manipulator to a fixed base manipulator. This transfer enlarges uncertainty bound of parameters. Hence, sliding mode-PID control as a combinational robust control approach is applied in the system. In this case, PID like sliding surface is proposed instead of conventional sliding surface. Adaptive tuning of sliding surface provides a Sliding Cloud that is a kind of dynamic sliding surface. In this way, inclination of system to stable behaviour increases and robustness of system, in the presence of uncertainties, is bolstered.
VL  - 2
IS  - 2
ER  -

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Author Information

B. Kharabian

Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran
H. Bolandi

Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran
A. F. Ehyaei

Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran
S. K. Mousavi Mashhadi

Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran
S. M. Smailzadeh

Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran

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APA Style

B. Kharabian, H. Bolandi, A. F. Ehyaei, S. K. Mousavi Mashhadi, S. M. Smailzadeh. (2017). Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory. American Journal of Mechanical and Industrial Engineering, 2(2), 64-71. https://doi.org/10.11648/j.ajmie.20170202.12

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ACS Style

B. Kharabian; H. Bolandi; A. F. Ehyaei; S. K. Mousavi Mashhadi; S. M. Smailzadeh. Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory. Am. J. Mech. Ind. Eng. 2017, 2(2), 64-71. doi: 10.11648/j.ajmie.20170202.12

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AMA Style

B. Kharabian, H. Bolandi, A. F. Ehyaei, S. K. Mousavi Mashhadi, S. M. Smailzadeh. Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory. Am J Mech Ind Eng. 2017;2(2):64-71. doi: 10.11648/j.ajmie.20170202.12

Copy | Download

@article{10.11648/j.ajmie.20170202.12,
  author = {B. Kharabian and H. Bolandi and A. F. Ehyaei and S. K. Mousavi Mashhadi and S. M. Smailzadeh},
  title = {Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory},
  journal = {American Journal of Mechanical and Industrial Engineering},
  volume = {2},
  number = {2},
  pages = {64-71},
  doi = {10.11648/j.ajmie.20170202.12},
  url = {https://doi.org/10.11648/j.ajmie.20170202.12},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajmie.20170202.12},
  abstract = {In this paper, a combinational control approach of sliding mode-PID is utilized in free floating space manipulator. Due to float base, nonlinearity of free floating space manipulator dynamics lead to having unstable behaviour and complicated dynamic model. To simplify the dynamic equation, dynamically equivalent manipulator is utilized which is a fixed base manipulator. In this approach, an unique map transfers dynamic parameters of free floating space manipulator to a fixed base manipulator. This transfer enlarges uncertainty bound of parameters. Hence, sliding mode-PID control as a combinational robust control approach is applied in the system. In this case, PID like sliding surface is proposed instead of conventional sliding surface. Adaptive tuning of sliding surface provides a Sliding Cloud that is a kind of dynamic sliding surface. In this way, inclination of system to stable behaviour increases and robustness of system, in the presence of uncertainties, is bolstered.},
 year = {2017}
}

Copy | Download

TY  - JOUR
T1  - Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory
AU  - B. Kharabian
AU  - H. Bolandi
AU  - A. F. Ehyaei
AU  - S. K. Mousavi Mashhadi
AU  - S. M. Smailzadeh
Y1  - 2017/01/20
PY  - 2017
N1  - https://doi.org/10.11648/j.ajmie.20170202.12
DO  - 10.11648/j.ajmie.20170202.12
T2  - American Journal of Mechanical and Industrial Engineering
JF  - American Journal of Mechanical and Industrial Engineering
JO  - American Journal of Mechanical and Industrial Engineering
SP  - 64
EP  - 71
PB  - Science Publishing Group
SN  - 2575-6060
UR  - https://doi.org/10.11648/j.ajmie.20170202.12
AB  - In this paper, a combinational control approach of sliding mode-PID is utilized in free floating space manipulator. Due to float base, nonlinearity of free floating space manipulator dynamics lead to having unstable behaviour and complicated dynamic model. To simplify the dynamic equation, dynamically equivalent manipulator is utilized which is a fixed base manipulator. In this approach, an unique map transfers dynamic parameters of free floating space manipulator to a fixed base manipulator. This transfer enlarges uncertainty bound of parameters. Hence, sliding mode-PID control as a combinational robust control approach is applied in the system. In this case, PID like sliding surface is proposed instead of conventional sliding surface. Adaptive tuning of sliding surface provides a Sliding Cloud that is a kind of dynamic sliding surface. In this way, inclination of system to stable behaviour increases and robustness of system, in the presence of uncertainties, is bolstered.
VL  - 2
IS  - 2
ER  -

Copy | Download