An Effective Trajectory Tracking Control Method for Delta Robot Based on Backstepping Sliding Mode Control Techniques

International Journal of Electrical and Electronics Engineering

© 2024 by SSRG - IJEEE Journal

Volume 11 Issue 4

Year of Publication : 2024

Authors : Hung Pham Van, Xuan Minh Dinh, Minh Pham Van, Nam Pham Van, Hai Le Xuan, Nam Khanh Nguyen

10.14445/23488379/IJEEE-V11I4P107

How to Cite?

Hung Pham Van, Xuan Minh Dinh, Minh Pham Van, Nam Pham Van, Hai Le Xuan, Nam Khanh Nguyen, "An Effective Trajectory Tracking Control Method for Delta Robot Based on Backstepping Sliding Mode Control Techniques," SSRG International Journal of Electrical and Electronics Engineering, vol. 11,  no. 4, pp. 55-63, 2024. Crossref, https://doi.org/10.14445/23488379/IJEEE-V11I4P107

Abstract:

In this paper, we propose the application of the backstepping sliding mode control method for the Delta robot, aiming to achieve desired motion trajectories in a short time and maintain system stability, even in the presence of unknown external disturbances affecting joint torques. The stability of the system is rigorously demonstrated based on the Lyapunov stability theory. The performance of the controller is evaluated through numerical simulations using the Matlab&Simulink tool, with a figure-eight trajectory, and compared with two other control algorithms, including classical PD and Backstepping. The results show that the proposed controller exhibits excellent performance, allowing for precise control of the Delta robot’s motion along the desired trajectory with minimal error, short response time, and improved stability compared to both PD and backstepping controllers, especially when the system is subjected to unknown external disturbances.

Keywords:

Delta robot, Asymptotic stability, Backstepping sliding mode control, Tracking control.

References:

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