SMC Controlled Chaotic Trajectory

Tracking of Two-Link Flexible

Manipulator with PID Sliding Surface
CIANYI KAZADI YANNICK1
1
State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China, (e-mail: cianyi@zju.edu.cn)

ABSTRACT The present work proposes a tip-tracking control of two-link flexible manipulator (TLFM).
First the dynamic model is derived based on the Lumped Parameter Method (LPM). Then, a PID-Sliding
Mode Control is designed in order to track a chaotic trajectory generated from a Genesio-Tesi chaotic
system. The effectiveness of the controller is tested though numerical simulation.

INDEX TERMS Flexible link manipulator, Trajectory tracking, SMC control, Sliding surface

I. INTRODUCTION II. DYNAMIC OF THE TWO LINK FLEXIBLE

The design of a controller for a two link flexible manipulator
(TLFM) depends on the type of control problems. Very often
control problems for TLFM in literature are (angular, tip)
position control problem, (angular, tip) trajectory tracking
problem, regulation problem, as well as vibration attenuation
problem. Trajectory tracking is the most difficult control
problem and often acceptable for flexible manipulator.
Many control techniques have been reported for trajectory
tracking control of a TLFM: adaptive control, observer based
control, sliding mode controller (SMC) with another con-
troller [1], SMC with fuzzy logic, linear quadratic regulator,
PID control [2] [3].
Common types of desired trajectory often used for TLFM
available in the literature are bang-bang trajectory, circular
MANIPULATOR
Consider a planar two-link flexible manipulator with bending
deformation in the plane of motion. The figure (1) shows
the two-link flexible manipulator. The coordinates frames are
given as (X̂O , ŶO ), the moving rigid body frame for link i
as (Xi , Yi ) and the moving flexible body frame of ith link as
(X̂i , Ŷ )i .
The motor shaft drives the link so as to reach the desired
position. The kinetic energy and the potential energy are
calculated to determine the Lagrangian of the system.
 m2
Y2
2
1

trajectory, sinusoidal trajectory, exponentially varying signal,

Xˆ
Y1ˆ

straight line trajectory. In this paper a new approach was

made by using a chaotic signal generated using a chaotic sys-
Ô O 
1 2
X2

Y0 2
tem called Genesio-Tesi chaotic system. The d esired track- f2
ing is achieved using a PID sliding mode control technique in
the presence of bounded matched disturbances. It is designed X̂ 2
in term of error dynamics. These are defined i n t erms of 1 Ŷ 2
Y1
desired trajectory and desired tip deflection. A Lyapunov Ô O 
1
2 3
stability theory is used to guarantee the stability of the sliding  f1 X1
X0
surface and the convergence of the error dynamics. Finite
time stabilization of the manipulator dynamics is achieved  O0O1 
using small sliding surface reaching time and low chattering.  m1
The lumped parameter method is used for modeling of the
Figure 1: Schematic diagram of TLFM
manipulator dynamics.
The system dynamics equation can be obtained by using

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 CIANYI Y.KAZADI, READING PAPER

the Euler-Lagrange formulation. where b1 , b2 , b3 , b4 , b5 , b6 , b7 , b8 are the system parameters

given in Tab.(2):
The potential and kinetic energies in the system are given
as: Table 2: System parameters
n
1X Parameter Expression Value
V = kstif,i αi2 (1) ηm ηg Kt Kg2 Km + Beq Rm
2 i=1 ζ1 2.0796
Rm Jeq,1
ksif f
where kstif f,i is the stiffness of the ith link, i = 1, . . . , n, ζ2 7.955
Jeq,1
and n is the number of links. ηm ηg Kt Kg
ζ3 1.29
Rm Jeq,1
n
X ηm ηg Kt Kg2 Km + Beq Rm
T = (Thub,i + Tlink,i ) ζ4 2.237
Rm Jeq,2
i=1 ksif f
n  (2) ζ5 4.09
1X  2  Jeq,2
2 ηm ηg Kt Kg
= Jeq,i θ̇i + JLink,i θ̇i + α̇i ζ6 1.39
2 i=1 Rm J eq,2 
Jeq,1 + Jlink,1
where Jeq and Jlink are respectively equivalent inertia mo- ζ7 kstif f 412
 Jeq,1 Jlink,1 
ment of the hub and link inertia moment. Jeq,2 + Jlink,2
ζ8 kstif f 408
The Lagrangian functions is therefore obtained as Jeq,2 Jlink,2

L =T −V The parameters d1 , d2 , d3 and d4 in (6) are considered as

 2
1 
the disturbances to the system. In this work, they are defined
= Jeq,1 θ̇12 + Jeq,2 θ̇22 + JLink,1 θ̇1 + α̇1
2 (3) as 
 2   d1 = 0.1 sin(πθ1 ) sin(π θ̇1 )
+JLink,2 θ̇2 + α̇2 − kstif,1 α12 + kstif,2 α22


d = 0.1 sin(πα ) sin(π θ̇ )
2 1 1
(7)
As the system only has two generalized coordinates θ and


 d3 = 0.1 sin(πθ2 ) sin(π θ̇2 )
d4 = 0.1 sin(πα2 ) sin(π θ̇2 )

α, the Euler Lagrange equations are defined as
d ∂L ∂L

By defining a new state variables x given by x =
 − = τmi + τfi
[θ1 , θ2 , α1 , α2 , θ̇1 , θ̇2 , α̇1 , α̇2 ]T , and u = Vm , (6) can be

dt ∂ θ̇i ∂θi (4)
 d ∂L − ∂L = 0
 written is the state space form as
dt ∂ α̇i ∂αi 
 ẋ1 = x5
where τm is the output torque from the servomotor hub, 

ẋ2 = x6


τfi = Beq,i θ̇i is the friction torque, Beq is its viscous 


ẋ3 = x7

damping coefficient. The torque τm is given by 



ηm ηg km kg    ẋ4 = x8
τ= Vm − km kg θ̇ (5) (8)
Rm ẋ5 = −ζ1 x5 + ζ2 x3 + ζ3 u + d1


ẋ6 = −ζ4 x6 + ζ5 x4 + ζ6 u + d2

In this case the parameters are given within the below table.




ẋ7 = ζ1 x5 − ζ7 x3 − ζ3 u + d3



Servomotor Parameters 

ẋ8 = ζ4 x6 − ζ8 x4 − ζ6 u + d4

ηm ηg km kg Rm Beq fc kstif =
2π fc
0.69 0.9 7.67e-3 70 2.6 1.99 3.2 20.06 III. PID-SMC CONTROL OF THE TLFM
Link Parameters
M1 M2 L1 L2 JL1 JL2 Jeq,h1 Jeq,h2 In this section the PID-SMC design is described in order to
0.065 0.070 0.3 0.2 1.95e-3 9.33e-4 0.099 0.092 ensure the tracking trajectory of the TLFM [4]. Consider θd
as the desired trajectory required for the link angular position
Table 1: Servomotor and link parameters and αd desired magnitude deflection for the links. Therefore
the tracking error is given by
By applying the equation (3) to the Lagrangian function (4) (
we get ei = θ i − θ d
(9)
 efi = αi − αd
 θ̈1 = −ζ1 θ̇1 + ζ2 α1 + ζ3 Vm + d1


θ̈ = −ζ θ̇ + ζ α + ζ V + d and the error dynamic
2 4 2 5 2 6 m 2
(6) (
α̈1 = ζ1 θ̇1 − ζ7 α1 − ζ3 Vm + d3 ėi = θ̇i − θ̇d

 (10)
α̈2 = ζ4 θ̇2 − ζ8 α2 − ζ3 Vm + d4 ėfi = α̇i − α̇d


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CIANYI Y.KAZADI, READING PAPER

where i = 1, 2. Let make fixed αd =  = 0.0001 m. using the error dynamic (10) and the dynamic equation (6)
into (16), one gets after assigning it to zero:
In this work, the desired trajectory is defined as a signal from
1 h
a chaotic system whose the equation of motion is given in u(t)eq = − θ˙1 (−b1 + a2 b1 )
state space form by b3 + a1 b6 − a2 b3 − a3 b6
+θ˙2 (−a1 b4 + a3 b4 ) + α2 (b2 − a2 b7 )

y˙1 = y2
 +a2 c5 α̇1 + a3 c7 α˙2 + c1 ė1 + a1 c3 ė2 + a2 c6 e3
i
y˙2 = y3 (11) +a3 c8 e4 − θ̈d (1 − a1 )

y˙3 = p3 y3 + p2 y2 + p1 y1 + y12

(17)

where p1 = −1, p2 = −1.1, p3 = −0.45 are parameters of The switching control defined when s 6= 0 can be chosen as
the chaotic system called Genesio-Tesi chaotic system. From a sign function of sliding surface s:
the output of this system, we choose θd = y1 , θ̇d = y2 and
θ̈d = y3 . usw = ρ sat(s) (18)

The aim of our PID-SMC controller is to be designed such where sat(s) is the sat function of the sliding surface and is
that the flexible manipulator tracks the desired chaotic trajec- defined as
tory θd within a finite time and satisfies the condition such (
that: s if |s| ≤ 1
sat(s) = (19)
sign(s) if |s| > 1
lim (ei (t), efi (t)) = 0 (12)
t→∞
The common control structure of SMC is now given by
In order to fulfill the above requirements, let define the
PID sliding surfaces as (13) and (14) for respectively angular u = ueq + usw (20)
position and angular deflection fo the two links.
To verify the stable convergence behavior of nonlinear con-
 Z t troller, Lyapunov theorem as a well-known approach is used
s1 = ė1 + c1 e1 + c3 e1 (τ )dτ

in stability analysis. In this case, the Lyapunov function can

Z0 t (13) be chosen to prove the stability as:
s2 = ė2 + c2 e2 + c4 e2 (τ )dτ


0
1 2
V = s (21)
 Z t 2
s3 = ėf1 + c5 ef1 + c7 ef1 (τ )dτ

For any value of s ≥ 0 the Lyapunov function is positive

Z0 t (14) definite, i.e. V > 0. Its tie time derivative of (21) gives:
s4 = ėf2 + c6 ef2 + c8 ef2 (τ )dτ


0
V̇ = s ṡ (22)
where c1 to c4 , and c5 to c8 are the positive gains of the
corresponding PID. By substituting the time derivative of sliding surface (16) and
the control law (17) into (22), on obtains:
The equivalent sliding surface of the manipulator dynam-
ics is given by the linear formula:
V̇ (s) ≤ −ρ|s| (23)
s = s1 + a1 s2 + a2 s3 + a3 s4 (15) which is negative defined since ρ > 0. Therefore the Lya-
punov stability criteria is satisfied.
where ai are the positive gains selected by a designer. By extracting s from (21), on can express (23) in term of
Since the dynamic equation of the TLFM given in the the Lyapunov function V as:
equation (6) is second order, the equivalent sliding mode
control output ueq is obtained by assigning ṡ = 0. This V̇ ≤ −2ρV (24)
is the tracking error dynamics ėi and the deflection error
dynamics ėfi should satisfy the condition (12), in presence which gives as solution
of disturbances.
V (t) = e−2ρt (25)

ṡ = (ë1 + c1 ė1 + c3 e1 ) + a1 (ë2 + c2 ė2 + c4 e2 ) (25) shows that the quicker convergence of the closed-loop
(16) system is obtained for large value of the control parameter ρ.
+ a2 (ë3 + c5 ė3 + c7 e3 ) + a3 (ë4 + c6 ė4 + c8 e4 )
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 CIANYI Y.KAZADI, READING PAPER

IV. RESULTS AND DISCUSSION Trajectory tracking using the PID-SMC for joint positions
In order to obtain good performance of the PID-SMC con- θ1 and θ2 are shown in fig.(4), respectively.
troller, the following gain have been designed as control
1
parameters Tab.(3): actual desired
0.5
Table 3: Gain parameters for PID-SMC controller

31
0
c1 c2 c3 c4 c5 c6 c7 c8 a1 a2 a3 ρ
7 7 7 5 1 3 2 3 0.6 0.3 0.25 5
0 5 10 15 20 25 30 35 40

1
Using Matlab Simulink, we have design as shown in the actual desired
figure (10) and simulated the tracking and obtained the results 0.5

32
presented in the next section.
0
The desired trajectory has been generated by solving the
Genesio-Tesi chaotic equation system (11) using fourth order -0.5
Runga Kutta method for with step time h = 0.001 in MAT- 0 5 10 15 20 25 30 35 40
LAB. The initial conditions are y1 (0) = 0.1, y2 (0) = 0.1 0.01
and y3 (0) = 0.002. The output are presented in the below
figure (2): 0

,1
1 -0.01
yd y_ d yBd actual desired
Desired trajectory

0.5
-0.02
0 5 10 15 20 25 30 35 40
0 0.02
actual desired
-0.5
,2

0
-1
0 5 10 15 20 25 30 35 40
Time =s
Chaotic attractor on plane (yd ; y_ d ) Chaotic attractor on plane (y_ d ; yBd ) -0.02
1 1 0 5 10 15 20 25 30 35 40
Times t=s
0.5
0.5 Figure 4: Time responses of tracking of first and second
0 angular position and tip-deflection
y_ d

yBd

0
-0.5
From fig.(4) above on can observe that the system tracks
-0.5
-1
the desired trajectories successfully with small tip deflections
-0.5 0 0.5 1 -0.5 0 0.5 1 as shown in two last plot in fig.(4). The tracking error shown
yd y_ d
in(5) reveals fast convergence to zeros during transient state,
Figure 2: Desired trajectory and Chaotic attractors of the while it increasing during steady state, especially for the
system second joint angle.
The tip-deflection in (4) shows the existence of the mini-
The disturbances d1 (t) and d3 (t) defined in (7) and added mum phase behavior of the internal dynamics of the system,
to the manipulator dynamics are shown in fig.(3): which is not solved in this work.
0.04 0.05
d1 d3 e1 e2
added disturbance d

0.02 0
Tracking error e(t)

0 -0.05

-0.02 -0.1

-0.04 -0.15
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Time =s Time =s

Figure 3: Disturbances added to the flexible manipulator Figure 5: Time response of the tracking error of the first and
dynamics second joint angle

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CIANYI Y.KAZADI, READING PAPER

According to the results shown in (6), it reveals a good and fig. (8) a very small amount of chattering is present in the
tracking of the desired joint velocity (θ̇d1 , θ̇d2 ), with null control law and the sliding surface.
velocity of the tip-deflection (α˙1 , α˙2 ) during steady state.
6
1
actual desired
0.5 4

control input u(t)

3_1

0
2
-0.5
0 5 10 15 20 25 30 35 40
0
1
actual desired
0.5
-2
3_2

0 5 10 15 20 25 30 35 40
0 Time =s

-0.5 Figure 8: Time response of the control input (20)

0 5 10 15 20 25 30 35 40
The phase plane of joint angles is given in fig. (9). It is also
0.2 visible that the joint angles of the system track successfully
the desired chaotic trajectories with small tracking errors,
,_ 1

0 even though the starting points are set to be different.

-0.2 actual
1
0 5 10 15 20 25 30 35 40 actual desired

0.2 actual 0.5

,_ 2

3_1

0
0
-0.2

0 5 10 15 20 25 30 35 40
Times t=s -0.5
Figure 6: Time responses of tracking of first and second -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2
angular velocity and velocity of tip-deflection 31

The time response of the equivalent sliding surface (15) 1

is shown in figure (7). We can easily see from this figure actual desired
that the system reaches the sliding surface in less than 1 sec
and remains on around the sliding surface. Depending on the 0.5
value of the control parameter ρ, a very large value will cause
3_2

much chartering.
0
0.2

0
-0.5
sliding surface s(t)

-0.2
-0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2
-0.4
32
-0.6
Figure 9: Phase plane of the error dynamics: (a) on (e1 , ė1 )
-0.8 and (b) on (e2 , ė2 )
-1

-1.2
0 5 10 15 20 25 30 35 40 V. CONCLUSION
Time =s
A chaotic trajectory tracking control along with tip deflec-
Figure 7: Time response of the equivalent sliding surface (15) tion regulation problem was considered in the paper. The
desired trajectory tracking is achieved using the PID-SMC
The time response of the control input is shown in figure control technique. The use of PID-SMC for controlling a
(8). It is apparently clear that from both the plots of fig. (7) TLFM was done for the first time in the literature. It is
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 CIANYI Y.KAZADI, READING PAPER

Figure 10: Simulink diagram of all the control system

described that the manipulator dynamics follow the desired

trajectory with good tracking performance in presence of
bounded disturbances. The chaotic desired trajectories are
produced by using Genesio-Tesi chaotic system. The PID
sliding surface was designed in terms of tracking error dy-
namics and deflection error dynamics. Finally, the equivalent
sliding surface was designed to bring the trajectory to the
desired surface in fixed reaching time. Stability of the sliding
surface and convergence of error dynamics were achieved
using Lyapunov stability theory. Modeling of the TLFM is
done using a lumped parameter method.

References
[1] K. Lochan and B. Roy, “Position control of two-link flexible manipulator
using low chattering smc techniques,” Int J Control Theory Appl, vol. 8,
no. 3, pp. 1137–1146, 2015.
[2] R. Ghazali, Y. Sam, M. Rahmat, and A. Hashim, “Zulfatman," sliding
mode control with pid sliding surface of an electro-hydraulic servo system
for position tracking control,",” Australian Journal of Basic and Applied
Sciences, vol. 4, no. 10, pp. 4749–4759, 2010.
[3] I. Eker, “Sliding mode control with pid sliding surface and experimental
application to an electromechanical plant,” ISA transactions, vol. 45, no. 1,
pp. 109–118, 2006.
[4] K. Lochan, B. Roy, and B. Subudhi, “Smc controlled chaotic trajectory
tracking of two-link flexible manipulator with pid sliding surface,” IFAC-
PapersOnLine, vol. 49, no. 1, pp. 219–224, 2016.