Sliding mode control design for haptic system with vibration mode

Jyoti Ohri,Naveen Kumar

doi:10.35470/2226-4116-2020-9-4-187-191

Abstract

Haptic is cutting edge technology having vast application mobile, home, robotics and tele-operations etc. It has enormous scope for tele-surgery using robotic arm with haptic feedback. It brings various dicsipline such as biomedical, neurological, physics and engineering on a single platform. It have numerious scope for all field.For this, haptic robotic arm should able to emulate the desired trajectory with minimum disturbances. In the real time, a robotic haptic arm have various uncertainty, vibrations and other unmodelled parameters which impact the output adversely. In this paper, a haptic device has been modelled in presence of internal vibration mode. A robust nonlinear sliding mode control (SMC) has been proposed in this paper. The efficacy of designed controller has been verified using simulation experiment. It has been observed that using the proposed method system follows desired trajectory accurately.

Highlights

Haptic is one of this most demanding technology having wide application in video games, pilot training, and tele-surgical operations
The critical stability of haptic system depends on many factors such as uncertainty, delay, internal vibration modes, human operator etc. [Kumar and Ohri, 2020c] In literature, various author have worked on the stability of haptic system and designed the suitable controller to address these issues
Internal vibration mode has been considered into the haptic system

Summary

Introduction

Haptic is one of this most demanding technology having wide application in video games, pilot training, and tele-surgical operations. In [Patrascu and Ion, 2016] uses genetic algorithm, FLC control design [Bashiti et al, 2018; Kumar and Ohri, 2017], and SMV has been used in [Kumar and Ohri, 2020b], estimation control method for nonlinear system in [Filippova, 2017], vibration method in [Tomchina, 2019] and LMI based method proposed in [Saragih, 2018]. In these articles, author have proposed the control strategy considering the delay and other uncertainty parameters.

Perfectly Rigid Haptic Device

SMC Model Design

Reaching Law for Sliding Mode

Simulations and Results

First Order Sliding Mode Control

Conclusion