Robust Control of Robotic Platforms

sliding mode controllers for robotic platforms

Figure 1. We developed and applied the Adaptive Super Twisting Controller method both to cable-driven parallel robots (left) and to UAVs (right).

During my time at the Max Planck Institute for Biological Cybernetics I worked on the application of sliding mode controllers, and particularly of the Adaptive Super Twisting Controller from Shtessel et al. (2012), both to cable-driven parallel robots and UAVs. What is remarkable about this method is that:

  • it considers all the uncertainties (parametric, model,disturbances) lumped together;
  • it does not require the knowledge of the upper bound ofthe uncertainties;
  • rather than adapting the parameters of the model, it adapts the gains;
  • it uses a feedforward dynamic inversion (FF) to reduce the discontinuous control, thus improving performance and further reducing chattering.
Figure 2. Results from the application of an Adaptive Super Twisting controller to an UAV. The plots show that the controller is able to quickly react to unforeseen external disturbances.

Related Publications

  1. Book Chapter
    Application of a Differentiator-Based Adaptive Super-Twisting Controller for a Redundant Cable-Driven Parallel Robot
    Schenk, C.,  Masone, C., Pott, A., and Bülthoff, Heinrich H.
    In Cable-Driven Parallel Robots 2018
  2. Conference Proc.
    Adaptive Super Twisting Controller for a quadrotor UAV
    Rajappa, S.,  Masone, C., Bülthoff, H. H., and Stegagno, P.
    In 2016 IEEE International Conference on Robotics and Automation (ICRA) 2016
  3. Conference Proc.
    Robust adaptive sliding mode control of a redundant cable driven parallel robot
    Schenk, C., Bülthoff, H. H., and Masone, C.
    In 2015 19th International Conference on System Theory, Control and Computing (ICSTCC) 2015