This paper proposes an anti-disturbance discrete sliding mode control (ADSMC) strategy containing a high-order discrete sliding mode controller (DSMC) and a disturbance observer to suppress unwanted micro/nano vibrations in a high-speed macro-micro manipulator consisting of an air-floating macro-motion platform driven by a voice coil motor and a micromanipulator driven by macro-fiber-composite (MFC) actuators. The electromechanical coupling dynamic model of the system is developed by utilizing the assumed mode method and Lagrange equation. Based on the established dynamic model, the third-order anti-disturbance discrete sliding mode control (ADSMC) strategy is proposed by using linear extrapolation and combining with a disturbance observer. Finally, a series of experimental tests are carried out, and the results show that the manipulator can precisely track the reference trajectory with minor errors with external disturbances. In particular, under a hybrid trapezoidal macro-motion and external disturbance, the residual vibration is effectively suppressed after two consecutive velocity mutations. Therefore, the designed ADSMC is feasible in the microscopic vibration suppression of a high-order macro-micro manipulator during large-scale operation.
AvciEOharaKNguyenCN, et al. (2015) High-speed automated manipulation of microobjects using a two-fingered microhand. IEEE Transactions on Industrial Electronics62(2): 1070–1079.
2.
ChwaDKwonH (2022) Nonlinear robust control of unknown robot manipulator systems with actuators and disturbances using system identification and integral sliding mode disturbance observer. IEEE Access10: 35410–35421.
3.
DeyUKumarCSJacobC (2021) SEM image-guided manipulation with a feedback assistance system for automated nanohandling of a 4 DOF micromanipulator. Journal of Micromechanics and Microengineering31(11): 115006.
4.
FayaziAParizNKarimpourA, et al. (2020) Adaptive sliding mode impedance control of single-link flexible manipulators interacting with the environment at an unknown intermediate point. Robotica38(9): 1642–1664.
5.
FeiJTDingHF (2012) Adaptive sliding mode control of dynamic system using RBF neural network. Nonlinear Dynamics70: 1563–1573.
6.
HeWHeXYZouMF, et al. (2018) PDE model-based boundary control design for a flexible robotic manipulator with input backlash. IEEE Transactions on Control Systems Technology27(2): 790–797.
7.
HuangCNaghdyFDuH (2019) Sliding mode predictive tracking control for uncertain steer-by-wire system. Control Engineering Practice85: 194–205.
8.
JiangTTLiuJKHeW (2017) A robust observer design for a flexible manipulator based on a PDE model. Journal of Vibration and Control23(6): 871–882.
9.
JiangNJXuJZhangS (2020) Event-triggered adaptive neural network control of manipulators with model-based weights initialization method. International Journal of Precision Engineering and Manufacturing-Green Technology7: 443–454.
10.
KhotSYelveNPTomarR, et al. (2011) Active vibration control of cantilever beam by using PID based output feedback controller. Journal of Vibration and Control18(3): 366–372.
11.
LiuYFuYHeW, et al. (2018) Modeling and observer-based vibration control of a flexible spacecraft with external disturbances. IEEE Transactions on Industrial Electronics66(11): 8648–8658.
12.
LiuYChenXMeiY, et al. (2022) Observer-based boundary control for an asymmetric output-constrained flexible robotic manipulator. Science China Information Sciences65(3): 139203.
13.
LiuYYaoXZhaoW (2023) Distributed neural-based fault-tolerant control of multiple flexible manipulators with input saturations. Automatica156: 111202.
14.
LuELiWYangXF, et al. (2016) Modelling and composite control of single flexible manipulators with piezoelectric actuators. Shock and Vibration2016: 2689178–2689214.
15.
MaHFLiYMXiongZH (2018) Discrete-time sliding-mode control with enhanced power reaching law. IEEE Transactions on Industrial Electronics66(6): 4629–4638.
16.
MallouliMChouchaneM (2023) Selection of piezoeloectric material and fiber volume fraction to maximize the electrical power produced by macro-fiber composite energy harvesters. Journal of Composite Materials57(2): 273–295.
17.
QiuZC (2012) Adaptive nonlinear vibration control of a Cartesian flexible manipulator driven by a ballscrew mechanism. Mechanical Systems and Signal Processing30: 248–266.
18.
QiuZCChenSW (2022) Vibration control of a translational coupled double flexible beam system using sliding mode neural network fuzzy control. Transactions of the Institute of Measurement and Control44(11): 2264–2288.
19.
QiuZCWangTXZhangXM (2021) Sliding mode predictive vibration control of a piezoelectric flexible plate. Journal of Intelligent Material Systems and Structures32(1): 65–81.
20.
UzunoğluETatlicioğluEDedeMİ (2021) A multi-priority controller for industrial macro-micro manipulation. Robotica39(2): 217–232.
21.
WangYQFengYTZhangXG, et al. (2019) A new reaching law for antidisturbance sliding-mode control of PMSM speed regulation system. IEEE Transactions on Power Electronics35(4): 4117–4126.
22.
WangSYangYLLiGP, et al. (2022) Microscopic vibration suppression for a high-speed macro-micro manipulator with parameter perturbation. Mechanical Systems and Signal Processing179: 109332.
23.
WuGHYangYLLiCY, et al. (2023) Anti-disturbance control of a piezo-driven micromanipulator with a non-minimum phase. AIP Advances13(3): 035025.
24.
WuGHYangYLLiGP, et al. (2023) Design and disturbance rejection control of a piezoelectric nanopositioning stage. Proceedings of the Institution of Mechanical Engineers - Part C: Journal of Mechanical Engineering Science237(23): 5602–5620.
25.
WuGHYangYLCuiYG, et al. (2024) A novel macro-fiber-composite stick-slip actuator with large single-step displacements. Precision Engineering87: 79–96.
26.
XuQSCaoZW (2017) Piezoelectric positioning control with output‐based discrete‐time terminal sliding mode control. IET Control Theory & Applications11(5): 694–702.
27.
XueKIgarashiAKachiT (2022) Independent modal space phase-lead velocity feedback control of floor vibration. Structural Control and Health Monitoring29(7): 1–21.
28.
YangYLWeiYDLouJQ, et al. (2018) Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator. Journal of Sound and Vibration422: 318–342.
29.
YorgancioğluFRedifS (2019) Fast nonsingular terminal decoupled sliding-mode control utilizing time-varying sliding surfaces. Turkish Journal of Electrical Engineering and Computer Sciences27(3): 1922–1937.
30.
YuHPLiuYXDengJ, et al. (2022) A collaborative excitation method for piezoelectric stick-slip actuator to eliminate rollback and generate precise smooth motion. Mechanical Systems and Signal Processing170: 108815.
31.
YuLHQiuZCZhangXM (2022) Radial basis function neural network vibration control of a flexible planar parallel manipulator based on acceleration feedback. Journal of Vibration and Control28(3-4): 351–363.
32.
ZhangYYanP (2019) Adaptive observer‐based integral sliding mode control of a piezoelectric nano-manipulator. IET Control Theory & Applications13(14): 2173–2180.
33.
ZhangLLiXFangJ, et al. (2019) Vibration isolation of extended ultra-high acceleration macro-micro motion platform considering floating stator stage. International Journal of Precision Engineering and Manufacturing20: 1265–1287.
34.
ZhangXYXiaoLFLiH (2020) Robust control for switched systems with unmatched uncertainties based on switched robust integral sliding mode. IEEE Access8: 138396–138405.
35.
ZhangTXiongLGPanZQ, et al. (2023) Design and analysis of XY large travel micro stage based on secondary symmetric lever amplification. Micromachines14(9): 1805.
36.
ZhengHZhaoGHanW, et al. (2024) Concurrent optimization of actuator/sensor layout and control parameter on piezoelectric curved shells with active vibration control for minimizing transient noise. Structural and Multidisciplinary Optimization67(1): 1–19.
37.
ZhuWLZhuZGuoP, et al. (2018) A novel hybrid actuation mechanism based XY nanopositioning stage with totally decoupled kinematics. Mechanical Systems and Signal Processing99: 747–759.
