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Proxy-based sliding mode control on platform of 3

degree of freedom (3-DOF)
a a a a
Pablo J. Prieto , Ernesto Rubio , Luis Hernández & Orlando Urquijo
a
Automation, Robotic and Perception Group (GARP), Universidad Central “Marta Abreu” de
Las Villas (UCLV) , Carretera a Camajuaní km 5.5 Santa Clara, 54830 , Villa Clara , Cuba
Published online: 17 Apr 2013.

To cite this article: Pablo J. Prieto , Ernesto Rubio , Luis Hernández & Orlando Urquijo (2013) Proxy-based
sliding mode control on platform of 3 degree of freedom (3-DOF), Advanced Robotics, 27:10, 773-784, DOI:
10.1080/01691864.2013.785471

To link to this article: http://dx.doi.org/10.1080/01691864.2013.785471

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 Advanced Robotics, 2013
Vol. 27, No. 10, 773–784, http://dx.doi.org/10.1080/01691864.2013.785471

FULL PAPER
Proxy-based sliding mode control on platform of 3 degree of freedom (3-DOF)
Pablo J. Prieto*, Ernesto Rubio, Luis Hernández and Orlando Urquijo

Automation, Robotic and Perception Group (GARP), Universidad Central “Marta Abreu” de Las Villas (UCLV), Carretera a
Camajuaní km 5.5 Santa Clara 54830, Villa Clara, Cuba
(Received 17 April 2012; accepted 9 July 2012)

Proxy-based sliding mode control, created by Ryo Kikuuwe and Hideo Fujimoto, combines the advantages of sliding
mode control and proportional integral derivative controller. This paper implements this control algorithm on a platform
of 3 degrees of freedom (3-DOF) driven by electropneumatic actuators with proportional flow valves. This paper pre-
sents an extension of proxy-based sliding mode control. This time it is implemented on a parallel robot. Despite the
robot being a coupled system, is reached a perfect decoupled control. The simulations in MSC-ADAMS and experimen-
tal results demonstrate good tracking.
Downloaded by [Pablo J. Prieto] at 08:28 04 March 2014

Keywords: movable platform; parallel robot; pneumatic actuator; position control; sliding surface

1. Introduction of high forces of static and dynamic friction between the

Parallel robotics has become an issue of great importance
for the international scientific community due to its sig-
nificant advantages, such as: excellent mass–load rate,
high movement velocity, and good respectability. Hun-
dreds of research articles on this area have been pub-
lished; new kinds of prototypes have been built
according to required applications. Furthermore, new
topologies are being devised and consequently, their
applications are continuously increasing.[1] Nevertheless,
their study implies several challenges concerning design
and analysis complexity, as well as mechanical structure
peculiarities. One of the many difficulties that can be
observed is the creation of dynamic and kinematic paral-
lel models due to the fact that the equations can be
solved by multiple solutions. The implementation of
control algorithms has proved to be a more complex
problem.[1–4]
Parallel robot actuators are linear movement pneu-
matic cylinders which turn the compressed air energy into
mechanical work. Pneumatic actuators have got a wide
industrial use nowadays due to their clean, low cost, fast
response, high power-weight rate, and easy maintenance
technology. In the last few years, these actuators have
been introduced in applications which call for continuous
positioning, such as: parallel robots, simulation platforms,
and others.[5] However, it is also important to note the
highly nonlinear dynamics of a pneumatic servo system.
This behavior is due to air compression, nonlinear con-
duct of air flow through the valves, and to the existence
cylinder and the piston. Furthermore, the results are seri-
ous disturbances and difficulties to have a strict control
over the pneumatic actuator.[6,7]
The PID controller is the most common algorithm
used in the industrial applications. PID is a simple
controller, whose application is good, when the dynamic
model plant is lineal and the parameters do not change
with the time. Due to the compressibility of the air, dead
zone and high friction forces present in the electropneu-
matic systems, there is strong nonlineal characteristic that
make the parameters vary in time. These are the main
causes that limit the application of the PID in these
systems.[7]
Today, one of the most studied control strategies is
the sliding mode control (SMC),[8–10] which is charac-
terized by its strength, independently from the plant’s
mathematical model. The sliding mode systems have the
capacity of being an efficient tool for complex control of
nonlinear dynamic models, which operate under
unknown conditions.
Nevertheless, the chattering phenomenon,[8–11]
which has for a long time affected the implementation of
sliding strategies in real physical systems, becomes a
threat that may contribute to the deterioration of
electromechanical systems and thus it prevents the suc-
cess of the control algorithm. Many alternatives have
been suggested by researchers on this matter,[8–10]
however, significant results have not been attained
through real experiments so far.[12]

*Corresponding author. Email: pablop@uclv.edu.cu

Ó 2013 Taylor & Francis and The Robotics Society of Japan

 774 P.J. Prieto et al.
The high-order sliding mode control,[13,14] is a vari-
ant of sliding mode control, which has been imple-
mented in electropneumatic actuators with good results.
This is a not easy to implement strategy since informa-
tion need increases greatly.[14] However, the proxy-
based sliding mode control (PSMC)[12,15,16] is a very
successful recent variant with good results in pneumatic
muscles and medical robots with the use of proportional
pressure valves.
This work is aimed at the PSMC implementation as
an articular control in each of the pneumatic actuators on
a 3-DOF movements, on the basis of the advantages of
both the sliding and the proportional-derivative-integral
(PID) controllers. This makes the extension of such a
control strategy to parallel robotics possible through the
use of flow proportional valves which show a different
dynamics from that of the proportional pressure valve.
This paper is organized as follows: the first section
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deals with a description of the parallel robot by describ-
ing its movements and all the components which make
up the electropneumatic structure and the sensory and
data acquisition systems as well. The second section
gives details about the nonlinear modeling of electro-
pneumatic systems where the load, cylindrical chambers,
and valve dynamics are presented. The third section
shows the SMC description. The fourth section describes
the proxy-based sliding mode control, while the fifth sec-
tion refers to the simulation and experimental results by
showing the good performance of the system with PSMC
and PID. Finally, conclusions are stated.
2. Platform of 3-DOF
The parallel robot under study consists of a 3-DOF plat-
form manufactured by Simulators Developer Center
(depicted in Figure 1). The system is made up of a fixed
base connected to a moving platform by three indepen-
dent kinematic chains driven by double-effect linear
pneumatic cylinders based on RPSU-2SPS architecture.
These cylinders are fed by MPYE 5-3/8-010-B valves.
The LXEP-40 incremental encoder is used in order to
measure position and velocity. The information gathering
Figure 1. 3-DOF platform and its RPSU-2SPS kinematic structure.
and control actions sending card is of the HUMUSOFT
624 type.
The most important characteristics and technical
parameters are summarized in Table 1. The passive rota-
tional joints are connected to a double-acting pneumatic
cylinders, as active prismatic joints, whose linear move-
ments lead to rotations around both the y′ and x′ axes,
represented by roll (h) and pitch (u) angles, respectively,
and linear movements along the z′ axis (elevation),
defined by variable h. So, the moving platform can simu-
late different scenarios in correspondence with a virtual
reality world, shown in a LCD display located inside the
cabin, firmly attached to a mobile platform, with capacity
for two people to reach the 3-DOF movement.
3. Electropneumatic actuator nonlinear dynamic
Implementing a control system needs a concrete knowl-
edge of the model describing the actuator dynamics.
Such a model consists of the output element movement
equation (stem) and the pressure change equation for the
chambers.
The electropneumatic actuator analytic model deals
with the spool dimension inside the valve, since air is
not a good lubricant. This is why, in practice, valves are
underlapped when they are manufactured. Air leakages
to the cylinder chambers when obtaining the mathemati-
cal model are considered. An actuator model should be
divided into three subsystems.[7]
(1) Valve Model: describes the air flow dynamics
through the valve according to the control
action and to the pressure on its ends. In this
case, underlapped valves dynamics is dealt
with.
(2) Actuator Model: refers to pressures dynamics in
the cylinder chambers according to the air flow
and to the volumes in the cylinder chambers, as
well as their variations. These last two parame-
ters are defined by the position and speed of
the piston (and, therefore, of the load) if the
area of their two faces is known.
 Advanced Robotics 775

Table 1. Main specifications of the parallel robot.

Description Parameters
Diameter of cylinder 125 mm
Max. length of piston 500 mm
Max. pitch and roll angles ±18 deg
Elevation of moving platform ±215 mm
Total mass of the robot 1034 kg

(3) Load model: is concerned with the load move-

ment dynamics according to the pressures
applied on each side of the piston and to the
friction and external forces present in the Figure 2. An electropneumatic actuator scheme.
mechanical structure.
that defines if the work region is sonic (0\r\rc) or
subsonic (r[rc). The factor rc depends, among other
things, of the geometry of the orifice. The underlapped
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3.1. Mathematical valve model

modeling takes into account only the air flow to the cyl-
The nonlinear model of the system is obtained from the inder chambers, which depends upon a pair of indepen-
valve model, from pressures dynamics and from the dent orifices for each chamber; those of area input Ae1
moving mass model, where the characteristics of the and Ae2 depend on control action. Those of area output
underlapped valve present in the pneumatic proportional As1 and As2 is shown in Figure 3. An illustration for bet-
valve spool is taken into account.[17] A constant flow ter comprehension is shown below.
causing a nonlinearity on the system will always exist in Keeping in mind the input and output flows, the
its balance point. flows toward the cylinder would be:
The air is supplied at a pressure Ps that penetrates
through the orifices with areas Ae1 and Ae2 and goes out Qm1 ¼ Qme1 (Ps ; P1 ; Ae1 )
Qms1 (P1 ; Pa ; As1 ) (2)
to the atmosphere with a pressure Pa. The air also goes
into the cylinder chamber through some orifices, named
As1 and As2, which are considered the valve output. The Qm2 ¼ Qme2 (Ps ; P2 ; Ae2 )
Qms2 (P2 ; Pa ; As2 ) (3)
pressures of the air flow when entering the cylinder P1
where Qm1 ; Qm2 : input air flow to both cylinder
and P2, according to the action over the spool, act on
chambers (kg/s); Qme1 ; Qme2 : input air flow to valves
the piston faces in the cylinder and the resulting force
(kg/s); As1 ; As2 : air output area of valve to atmosphere
moves the actuator stem to certain position.
(m2); Ae1 ; Ae2 : air input area of valve to cylinder (m2);
Figure 2 shows the main variables which define the
Qms1 ; Qms2 : output air flow to atmosphere (kg/s); Pa :
actuator mathematical model.
atmospheric pressure (Pa); P1 ; P2 : pressures in the
The air mass flow through the valve orifices depends
cylinder chambers (Pa).
on the area of the orifice and on the input and output
pressures and it is calculated according to the ISO-6358
[18] norm that establishes: 3.2. Pressure cylinder dynamics
8 qffiffiffiffiffi Considering that the air is an ideal gas,[20] that the tem-
<KxPe 2 273 0\r\rc
T perature and pressure inside the cylinder chambers are
Qm qffiffiffiffiffi (1)
:KxP 2 273p 2 ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
1
1
rcr
rc
r P rc homogenous, and that the kinetic energy and potential
e T
are negligible, the relationship between pressure (P) and
volume (V) is:
Where x: valve area command (m2); Pe: input orifice
pressure (Pa); Pa: atmospheric pressure (Pa); K: propor-
tional adjustment constant of units (kg/s m2 Pa);
r: pressure rate r = Ps/Pe; rc: pressure critical rate
between sonic and subsonic air flow. Being Pe and Ps
the absolute pressures of input and output of the orifice
valve (in Pa), A its effective area (m2), K a constant of
proportionality (K = 2.43  103 kg/s m2 Pa), T the work
temperature (°K), and rc the reason of critical pressure Figure 3. Air flow representation.
 776 P.J. Prieto et al.
8  
PV ¼ mRT (4) >
> P_ 1 ¼ VRT A1 y_
Qm1
P1RT
> 1 (y) 
>
< P_ 2 ¼ VRT(y) Qm2
P2RT
> A2 y_
where R: constant of the ideal gas (R = 287.2 J/kg°K); T: 2

> €y ¼ (P1 A1
P2 A2
Pa Am
Ff )=M

Air absolute temperature (°K); m: air mass (kg).then: >
>
> @v
> ¼ €y
  : @t
_
_P ¼ RT VQm
mV (5)
V2
where P1 ; P2 : cylinder chamber pressure (Pa); A1 ; A2 :
area of inferior and superior chambers (m2); y: cylinder
is obtained. With Equations (4) and (5), we have:
piston position (m); V1 (y); V2 (y): inferior and superior

_
 chambers volume in function of position (m3); M: load
_P ¼ RT Qm
PV (6) (kg); Av : cylinder rod traversal section (m2); v: cylinder
V RT piston velocity (m/s).
For the specific case of the inferior chamber volume
of the cylinder: 4. Sliding mode control
The nonlinear characteristic of mechanical systems can
V1 ¼ A1 y (7)
introduce negative effects on the plant operation. The
most important approaches to deal with model uncer-
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where A1 is the inferior area of the chamber.

tainty are robust controls. SMC is known for its robust-
Therefore,
ness in relation to nonlinear effects. This section deals
  with description of the most important concepts of slid-
RT P1 A1 y_
P_ 1 ¼ Qm1
(8) ing mode control.
V1 (y) RT
An important aspect in the SMC is the variable struc-
ture control that has high switching control. This permits
For the superior chamber volume is:
guiding the nonlinear system to the sliding surface cho-
V2 ¼ A2 (ymx
y) ¼ A2 ymx
A2 y (9) sen by the user in the plane phase and maintaining it
there. This is why if the system is above or below the
where ymx is the maximum cylinder position and y is surface, the control algorithm commutes with the aim of
cylinder position. From previous equation: maintaining the system tracking on the surface.
The most important aim is to design a switching con-
V_ 2 ¼
A2 y_ (10) trol that will take the dynamic plant to the switching sur-
face and maintain it on the interception. A Lyapunov
Therefore, approach is used to characterize this task. The Lyapunov
method is usually used to determine the stability proper-
 
RT P2 A2 y_ ties without solving the state equation. The Liapunov
P_ 2 ¼ Qm2
(11) function V(y) is chosen as a candidate. The dynamic sys-
V2 (y) RT
tem of the plant is stable if the Liapunov candidate is
positive definite. It is positive definite when V (0) ¼ 0
and V (y)[0 for y and its derivative function is negative
3.3. Balance of forces in the cylinder definite when V (0) ¼ 0 and V (y)\0 for y. The Lyapu-
The balance of forces in the cylinder is given by the fol- nov method assures that the function is Lyapunov posi-
lowing equation: tive definite when the function is negative, and
Lyapunov negative definite when the function is positive.
P1 A1
P2 A2
Pa Am
Ff ¼ M€y (12) In that way stability is assured.[9]
A generalized Lyapunov function, that characterizes
where Am: the transverse section area of the cylinder the motion of the state trajectory to the sliding surface,
spool (m2); Ff : force of friction (N). is defined in terms of the surface. For each chosen
The pressures are absolute, and all the variables and switched control structure, is chosen the gains so that the
constants are expressed in the International System of derivative of this Lyapunov function is negative definite,
Units. thus guaranteeing motion of the state trajectory to the
The electropneumatic dynamic model is summarized surface. After proper design of the surface, a switched
as: controller is constructed so that the tangent vectors of
 Advanced Robotics 777

the state trajectory point towards the surface such that

the state is driven and maintained on the sliding surface.
Such controllers result in discontinuous closed-loop sys-
tems.
The following example shows the algorithm control.
Considering the plant:

y_ ¼ v (13)

v_ ¼ f (y) þ g(y)u (14)

Figure 5. The chattering phenomenon.
f (y) and g(y) are nonlinear functions, no need to be con-
tinuous. y: Position (m); v: velocity (m/s); u: control law
of SMC.
e ¼ e1;0 e
Lt
1
The position and velocity error can be defined e and (19)
e_ as:
where e1;0 represents the error at t ¼ 0s.
e ¼ yd
y (15) According to Equation (19), the system error expo-
Downloaded by [Pablo J. Prieto] at 08:28 04 March 2014

nentially tends to zero. Therefore, the systems with SMC

present overdamping response, obviously, this is an
e_ ¼ vd
v (16)
advantage. As a result, the motion equation of the sliding
mode can be designed as linear and homogenous system
The aim of a sliding mode controller is to keep the
though the original system presents nonlinear equations.
system state X ¼ ½y vT on the so-called sliding surface,
The parameter L1 defines the time constant to reach the
a (time-varying) line or surface in state space that repre-
sliding surface, hence, the value L determines the rapid-
sents desired dynamics for the system. It is commonly
ity of the systems. This parameter can be chosen.
define as s(y; t) ¼ 0, when the systems is on the surface.
To evaluate the stability, the Liapunov [9,21] candi-
The sliding surface is represented in phase plane by
date is evaluated:
Figure 4.
The equation of the sliding surface is: 1
V ¼ s2 (20)
s(y; t) ¼ e_ þ eL (17) 2

Then:
where: L: Represents the slope and it is strictly positive
constant. e: Position error e_ : Position error derivative s_s 6
Fjsj (21)
When the dynamic system is on the sliding surface
s(y; t) ¼ 0 implies From Equation (21) and the corresponding mathemat-
ical demonstrations, the control action is displayed:
1
e_ ¼
e (18)
L u ¼ ueq þ ud (22)
The solution of the previous equation is: where ueq represents the equivalents control (allowing us
to cancel the know terms of 14) and ud the discontinuous
part

1
u¼ (
d
f(y) þ Fsgn(s)) (23)
d
g(y)

F: Robust gain(should be large enough); d f(y): estimated

Figure 4. The idea of sliding mode.
d
nonlinear function of f (y); g(y): estimated nonlinear
function of g(y)
On the other hand, there is the chattering phenome-
non in all real application of sliding mode control, repre-
sented in Figure 5. An ideal sliding mode does not exist
in practice since it would imply that the control
 778 P.J. Prieto et al.

commutes at an infinite frequency. The problems causing The variables vd , vp , and v are the derives with respect
the switching imperfections, such as switching time to the time of each one, respectively. The mass of the
delays and small time constants in the actuators, produce proxy is denoted by m.
a particular dynamic behavior in the vicinity of the sur- The proxy equation is
face, which is commonly referred to as chattering.[21]
m€ys ¼ fa
fc (26)

5. Proxy-based sliding mode control According to [12], the proxy does not need to have
mass in such a way that substituting the Equations (24)–
Proxy-based SMC is a modification of the classical SMC (26):
as well as an extension of the PID control.[12,16] The
main idea is to introduce a virtual element, called proxy, fa ¼ Fsgn(yd
y
a_ þ L(vd
v
€a)) (27)
based on the haptic concept [23] that is controlled by
using sliding mode techniques. It is virtually fit together
with the real system through a PID, and its goal is to fc ¼ Ki a þ Kp a_ þ Kd €a (28)
achieve accuracy during the operation, overdamped
recovery in case of large position errors and the chatter- 0 ¼ fa
fc (29)
ing phenomenon is avoided. An illustration is shown in
Figure 6. where
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The control law, according to [12,16], states that the Z

sliding controller exerts a force on the proxy repre-
a¼ (ys
y)dt (30)
sented by fa. The coupled virtual PID causes an interac-
tion force between the proxy and each one of the
robot’s articulations represented by fc. According to the By replacing fa and fc by f , we have
equations:
r ¼ yd
y þ L(_yd
y_ ) (31)
fa ¼ Fsgn(yd
ys þ L(vd
vs )) (24)
f ¼ Fsgn(r
a_
L€a) (32)
where L is the sliding surface and F represents the
robust gain of sliding mode control.
f ¼ Ki a þ Kpa_ þ Kd €a (33)
Z
fc ¼ Ki (ys
y)dt þ Kp (ys
y) þ Kd(vs
v) (25) By replacing (33) in (32):
  
1 Kd
In this case, yd , ys , and y are the set position, posi- f ¼ Fsat _ þ Kp a_ þ Ki a
(r
a) (34)
F L
tion of the proxy, and the robot’s position respectively.

Figure 6. Principle of PSMC.

 Advanced Robotics 779

Table 2. PID adjust parameters.

Description Parameters
Kp 0.1
Ki 0.05
Kd 0.03

the actual valve position. When the valve finally does

Figure 7. Diagram of blocks in Simulink of the PSMC.
move, it pops and the process variable overshoots the
reference. At that point, the error becomes negative and
the controller integral action drives the output in the
other direction. This results in the distinctive continuous
The variable f represents the control action on each
limit cycle known as a stick-slip cycle. Stick-slip
one of the valves of the system electropneumatic.
response is commonly observed in position control of
Figure 7 depicts the control law according to the Equa-
pneumatic systems.
tion (34).
Basically, the PID and SMC play a fundamental role
in PSMC. The SMC is in charge of leading the dynamic
system to the sliding surface in order to present an
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overdamping response. When the system is on it, then

s(t; 0) ¼ 0 and the PID acts, like control algorithm, over
the plant, otherwise, the PID action occurs when
f \F.[22] This time, the PSMC, solve several problems:

(1) Nonlinear effect.

(2) The chattering phenomenon.
(3) Overshoots response.

6. Simulation and experimental results

6.1. Experiments with PID
In this case, the decoupled control [5] carried out allows
the manipulation of each independent articulation from
another in spite of being a robot characterized by a
strongly coupled system. In this experiment, the actua-
tor’s displacements signals corresponding to platform
have been applied as sinusoidal wave references input.
The references are defined by the following functions:

(1) Joint 1: y(t) ¼ 300 þ 100sin(0:6t)

(2) Joint 2: y(t) ¼ 300 þ 100sin(0:75t þ 3)
(3) Joint 3: y(t) ¼ 300 þ 100sin(0:70t þ 5)

PID parameters are adjusted based on the linealized

model of electropneumatic systems obtained through
experimental identification.[5] Table 2 depicts the
adjusted PID. Figure 8 shows the response of each one
of the pneumatic joints. Large overshoots response of
the system can be observed, due to the integral action.
Another point that should be highlight is the stick slip
effect during the experiment.
Stick-slip cycling as illustrated in Figure 9 occurs
Figure 8. Reference signals and real trajectory first, second,
when the controller integral action continuously increases and third electropneumatic actuators, respectively (millimeter
the controller output without a corresponding change in unit) with the PID controller.
 780 P.J. Prieto et al.

the sliding surface, in other words, it is determined by

parameter L .
It is advisable to adjust the PID parameters as well
as the sliding surface slope in order to achieve tracking
accuracy. Kikuuwe states that L  Kd =Kp with the aim
of keeping the system operation safe. The derivative
parameter should be small but not too small to avoid
oscillations. A high Kd value may deteriorate response
and tracking accuracy. The Ki parameter should be high
to eliminate, as quick as possible, errors in stable state;
however, it should not be high enough that might cause
oscillations. The Kp value should be high in order to
keep the system accuracy during tracking but not too
high as to cause oscillations in the system. It is neces-
sary to choose a parameter L or constant time that per-
mits to the mechanical system to reach the sliding
surface as soon as possible. Then, the same PID parame-
ters in the Section 6.1, are re-adjusted according to [12].
Downloaded by [Pablo J. Prieto] at 08:28 04 March 2014

Table 3 shows the parameters of PSMC.

Simulation tests in ADAMS-Simulink [24] are first
applied by taking advantage not only of simulation with
the resources saving aim, but also by taking ADAMS
professional package into account for the analysis of any
mechanical system. Figure 10 shows the modeling
mechanical system in MSC-ADAMS. The simulation
Simulink-ADAMS is achieved by setting the dynamics
of the electropneumatic in Simulink, as well as the con-
trol algorithm, explained respectively in the Sections 3
and 5. The ADAMS model imports from the Simulink
the generated forces that make possible the robot’s

Table 3. PSMC adjust parameters.

Description Parameters
F 100
L 0.2
Kp 0.1
Ki 0.05
Kd 0.001

Figure 9. Control action of first, second, and third

electropneumatic actuators, respectively (volts units) with the
PID controller.

6.2. Simulation with PSMC

In the PSMC, according to [12,16], two important ele-
ments, global and local dynamics, are presented. Local
dynamics is determined by the virtual coupling param-
eters: Ki , Kp , and Kd , and it should be adjusted in
order to achieve accuracy during the tracking. Global
dynamics can be defined when the system is far from Figure 10. Platforms of 3-DOF in ADAMS.
 Advanced Robotics 781

Figure 11. Block diagram used for control system simulation.

movement, and it exports the speed and position of each

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one of the actuator calculated, in such a way there is an

exchange of parameters between both software packages.
Figure 11 shows the diagram in Simulink of the electro-
pneumatic model with the PSMC representing the block
that allows the exchange information between Simulink
and MSC ADAMS. Figures 12 and 13 show the tracking
of the system in Simulink-ADAMS and control action
respectively.
The same reference signals, set in the Section 6.1,
are chosen with the aim of comparing both system
responses, one related with the PID controller and
another concerning with the PSMC controller. The sys-
tem to follow a desired tracking and their functions
are shown next, simulations of both the desired track-
ing and the mechanical system are shown next as
well. The signals are set in different phase in order to
see the pneumatic actuator movements during the rise
time.

(1) Joint 1: y(t) ¼ 300 þ 100sin(0:6t)

(2) Joint 2: y(t) ¼ 300 þ 100sin(0:75t þ 3)
(3) Joint 3: y(t) ¼ 300 þ 100sin(0:70t þ 5)

6.3. Experiments with PSMC

The control algorithm has been implemented in Matlab/
Simulink with Real Time Workshop Toolbox and Real
Time Windows Target. The position of the piston is
obtained from the reading of encoder and its speed is
estimated. A Humusoft 624 acquisition card works at a
sampling time of 1 ms. The real system was subjected to
a sinusoidal reference sign for 100s where the main
errors, due to Coulomb friction at the moment the sys-
tem changes direction, can be seen. Furthermore, the
dead zone can be observed,[25] commonly in pneumatic Figure 12. Simulation in Simulink-ADAMS with the PSMC
servo valves, when there is a input control value the controller.
 782 P.J. Prieto et al.
Downloaded by [Pablo J. Prieto] at 08:28 04 March 2014
Figure 13. Control action in Simulink-ADAMS with the
PSMC controller.
valve does not supply output air flow. The tracking
errors appear with PSMC through PID action during the
trajectory.[15] Tracking is shown in Figure 14 where the
overdamping response of the electropneumatic systems is
shown.
Another important point is the control action behav-
ior. Figure 15 shows the voltage applied on the servoval-
ves based on tracking errors. It can be observed that the
stick slip effect is reduced because the SMC acts on the
nonlinear mechanical system though a small effect is
Figure 14. Reference signals and real trajectory first, second,
and third electropneumatic actuators, respectively (mm unit)
with the PSMC controller.
remained. In addition, it is important to say the chattering
phenomenon is avoided due to the PID action when the
system is on the sliding surface.
7. Conclusions
A proxy-based sliding model control was successfully
implemented on a 3-DOF movable platform. Such a con-
trol is set into operation in a decoupled way taking
advantage of the PID and of SMC. This time, the proxy-
based sliding model control is implemented on a parallel
robot as appropriate means to extend its application. The
system behavior is also successful both in ADAMS-Sim-
ulink and in the real experiment by using proportional
flow valves.
 Advanced Robotics
Downloaded by [Pablo J. Prieto] at 08:28 04 March 2014
Figure 15. Control action of first, second, and third
electropneumatic actuators, respectively, (volts unit) with the
PSMC controller.
One of main aspects is the easy adjustment of the
controller according to certain design criteria. The PID
parameters are adjusted, on PSMC, based on the recom-
mendations of known bibliography. It is important to
indicate that the SMC, contained in PSMC, reduces the
nonlinear effects and makes more overdamping the
783
system response. The PID action, on PSMC, contributes
to avoid the chattering phenomenon, enabling the control
algorithm implementation. On the other hand, there is no
need to estimate the acceleration despite the fact that the
system has strongly nonlinear behavior.
Although there are unknown parameters caused by
air flow and the friction the tracking of 3-DOF movable
platform is good.
Acknowledgments
The authors wish to thank Dr Ryo Kikuuwe of the Department of
Mechanical Engineering at Kyushu University in Fukuoka for
his valuable recommendations. The remarks made by Dr Michael
Van Damme were also greatly appreciated. The authors
appreciate the reviewer’s comments, which contributed to
improve the article.
Notes on contributors
Pablo J. Prieto received the BE and ME
degrees from Universidad Central Marta
Abreu de las Villas, Santa Clara, Cuba, in
2009 and 2012, respectively, all in
automatic engineering. His research interests
include modeling, simulation, and control
algorithm on nonlinear mechanical system
by using sliding techniques.
Orlando Urquijo received the BE and ME
degrees from Universidad Central Marta
Abreu de las Villas, Santa Clara, Cuba, in
2009 and 2012, respectively. His research is
related with tracking control of Cartesian
space in parallel robots. Also include
regulator design in industrial process.
Ernesto Rubio received his Bachelor’s
degree from Universidad Central de Las Villas
(UCLV), Santa Clara, Cuba, in 1997, received
his Master’s degree in Automatic Control
from the same university in 2000 and his PhD
degree in 2009. Since 1997 he has been with
the Electrical Engineering Faculty from
UCLV, where he is currently a Titular
Professor. His research is about the modeling
and control of pneumatic actuator in industrial application.
Luis Hernández received the BE degree in
Engineering from the Universidad Central
“Marta Abreu” de Las Villas, Cuba
(UCLV), in 1981. He received the PhD
degree in Engineering from the same
University in 1994. He is the project leader
of Automation, Robotic and Perception
Research Group in the UCLV. His research
areas include automatic control, robot
modeling, autonomous robots control, and multisensory robots
systems.
 784 P.J. Prieto et al.
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