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Sliding Mode Control With PID Sliding Surface for Active Vibration Damping of Pneumatically Actuated Soft Robots

Ameer Hamza Khan, Shuai Li Orcid Logo

IEEE Access, Volume: 8, Pages: 88793 - 88800

Swansea University Author: Shuai Li Orcid Logo

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DOI (Published version): 10.1109/access.2020.2992997

Abstract

This paper proposes a novel active vibration damping mechanism for soft robots. In recent years, soft robots have gained increasing research attention for robotic researchers and industrial developers alike. Soft robots offer a significant number of advantages when it comes to the handling of fragil...

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Published in: IEEE Access
ISSN: 2169-3536
Published: Institute of Electrical and Electronics Engineers (IEEE) 2020
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URI: https://cronfa.swan.ac.uk/Record/cronfa54131
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spelling 2020-10-20T14:11:19.1986142 v2 54131 2020-05-05 Sliding Mode Control With PID Sliding Surface for Active Vibration Damping of Pneumatically Actuated Soft Robots 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2020-05-05 MECH This paper proposes a novel active vibration damping mechanism for soft robots. In recent years, soft robots have gained increasing research attention for robotic researchers and industrial developers alike. Soft robots offer a significant number of advantages when it comes to the handling of fragile objects, clinical rehabilitation tasks, and human-machine interaction. Soft robots demonstrate a high degree of compliance and safety because of their inherent softness, achieving the same with rigid robots will require intricate controller design and sensing mechanisms. However, the most commonly used soft robots use pneumatic systems for actuation. These pneumatic soft robots undergo large amplitude vibrations when deactuated suddenly. These vibrations not only decrease the accuracy of these soft robots but also compromise their structural integrity, which results in a decrease in their useable lifespan. An active vibration damping mechanism is very much needed to increase the utility of soft robots in industrial applications. To accurately control the dynamic behavior of soft robots, we propose a sliding mode based controller with PID sliding surface. The proposed controller uses feedback error to define a PID sliding surface, and a nonlinear sliding mode controller works to keep the system attached to the sliding surface. The coefficients of the PID sliding surface determine the dynamic behavior of the soft robot. The performance of the proposed controller is verified by using a multi-chambered parallel soft robot. The experimental results demonstrate that the proposed controller can suppress vibration amplitude to a decidedly smaller range. Journal Article IEEE Access 8 88793 88800 Institute of Electrical and Electronics Engineers (IEEE) 2169-3536 7 5 2020 2020-05-07 10.1109/access.2020.2992997 COLLEGE NANME Mechanical Engineering COLLEGE CODE MECH Swansea University 2020-10-20T14:11:19.1986142 2020-05-05T16:05:33.3793299 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Ameer Hamza Khan 1 Shuai Li 0000-0001-8316-5289 2 54131__17377__32df24271fb5472a9c6277e37645dc66.pdf 54131.pdf 2020-06-01T08:42:59.3089980 Output 1625612 application/pdf Version of Record true This work is licensed under a Creative Commons Attribution 4.0 License (CC-BY). true eng https://creativecommons.org/licenses/by/4.0/
title Sliding Mode Control With PID Sliding Surface for Active Vibration Damping of Pneumatically Actuated Soft Robots
spellingShingle Sliding Mode Control With PID Sliding Surface for Active Vibration Damping of Pneumatically Actuated Soft Robots
Shuai Li
title_short Sliding Mode Control With PID Sliding Surface for Active Vibration Damping of Pneumatically Actuated Soft Robots
title_full Sliding Mode Control With PID Sliding Surface for Active Vibration Damping of Pneumatically Actuated Soft Robots
title_fullStr Sliding Mode Control With PID Sliding Surface for Active Vibration Damping of Pneumatically Actuated Soft Robots
title_full_unstemmed Sliding Mode Control With PID Sliding Surface for Active Vibration Damping of Pneumatically Actuated Soft Robots
title_sort Sliding Mode Control With PID Sliding Surface for Active Vibration Damping of Pneumatically Actuated Soft Robots
author_id_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Shuai Li
author2 Ameer Hamza Khan
Shuai Li
format Journal article
container_title IEEE Access
container_volume 8
container_start_page 88793
publishDate 2020
institution Swansea University
issn 2169-3536
doi_str_mv 10.1109/access.2020.2992997
publisher Institute of Electrical and Electronics Engineers (IEEE)
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 1
active_str 0
description This paper proposes a novel active vibration damping mechanism for soft robots. In recent years, soft robots have gained increasing research attention for robotic researchers and industrial developers alike. Soft robots offer a significant number of advantages when it comes to the handling of fragile objects, clinical rehabilitation tasks, and human-machine interaction. Soft robots demonstrate a high degree of compliance and safety because of their inherent softness, achieving the same with rigid robots will require intricate controller design and sensing mechanisms. However, the most commonly used soft robots use pneumatic systems for actuation. These pneumatic soft robots undergo large amplitude vibrations when deactuated suddenly. These vibrations not only decrease the accuracy of these soft robots but also compromise their structural integrity, which results in a decrease in their useable lifespan. An active vibration damping mechanism is very much needed to increase the utility of soft robots in industrial applications. To accurately control the dynamic behavior of soft robots, we propose a sliding mode based controller with PID sliding surface. The proposed controller uses feedback error to define a PID sliding surface, and a nonlinear sliding mode controller works to keep the system attached to the sliding surface. The coefficients of the PID sliding surface determine the dynamic behavior of the soft robot. The performance of the proposed controller is verified by using a multi-chambered parallel soft robot. The experimental results demonstrate that the proposed controller can suppress vibration amplitude to a decidedly smaller range.
published_date 2020-05-07T04:07:28Z
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score 11.012678

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