Proxy-Based Sliding Mode Control (PSMC)

Under Construction

The Proxy-Based Sliding Mode Control is a safer position control scheme that can be used as a high-gain lowest-level position servo for industrial robots. It is an extension of torque-bounded PID position control, and, at the same time, is a modified version of sliding mode control. Without sacrificing tracking accuracy, it ensures smooth, overdamped recovery from large positional errors caused by abnormal envents, such as unexpected environment contacts, actuator power failures, and software failures in higher-level controllers.

PID control causes oscillation and overshoots when the desired position abruptly changes. PSMC moderately converges.

After a large disturbance, PID control produces abrupt resuming motion, which results in oscillation and overshoots. PSMC is always smooth and gentle.

The experimental setup in the movies belongs to Fujimoto Lab, Nagoya Institute of Technology. It was designed and constructed by Prof. Naoyuki Takesue. The movies appear on this page through the courtesy of Prof. Hideo Fujimoto and Prof. Naoyuki Takesue.

Literature on PSMC

Ryo Kikuuwe, Satoshi Yasukouchi, Hideo Fujimoto, and Motoji Yamamoto:“Proxy-Based Sliding Mode Control: A Safer Extension of PID Position Control,” IEEE Transactions on Robotics, 26(4), pp.670-683, August 2010.
- [Link to IEEE Xplore]
- [PDF file]
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- The original version of PSMC.
Ryo Kikuuwe, Takahiro Yamamoto, and Hideo Fujimoto: “Velocity-Bounding Stiff Position Controller,” In Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pp. 3050-3055, October 2006 (Beijing, China).
- [pdf file]
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- A modified version of PSMC, which imposes a limit on the velocity. We call it "Velocity-Bounding PSMC (VB-PSMC)".

FAQs on PSMC

to appear

Links

Researchers at Robotics and MultiBody Mechanics Research Group, Vrije Universiteit Brussel, have reported they have successfully implemented PSMC to their pneumatic SOFT ARM.
- M. Van Damme, B. Vanderborght, R. Van Ham, B. Verrelst, F. Daerden, and D. Lefeber: “Proxy-Based Sliding Mode Control of a Manipulator Actuated by Pleated Pneumatic Artificial Muscles,” In Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA 2006), pp. 4355-4360, 2007 (Rome, Italy).

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