Design of intelligent controller for reduction of chattering phenomenon in robotic arm: A rapid prototyping

Abstract

Robots functioning in the place of living beings is becoming more reliable as they can endure drastic physical conditions and can operate in airless conditions. Further, they can perform risky jobs and be not bothered by the job security and reputation. Sliding Mode controller (SMC) is a robust controller that has high stability, but it suffers from the problem of chattering. Power losses and severe electromagnetic interference (EMI) noises produced by the converter due to high switching frequency yields chattering. This paper puts forth the design of a hierarchal controller using differential flatness property to track the angular velocity trajectory of permanent magnet DC motor driven by a DC-DC buck converter. A cascaded control is used to regulate the DC-DC buck converter and it aids to reduce the chattering phenomenon to a minimum level. In addition, this control enhances the performance of the system by maintaining fixed switching frequency. Experimental observations show that the angular velocity is well traced under abrupt conditions.