Objective Sliding Mode Control for the Flotation Motor Replacement Process Based on a Stepwise Stochastic Configuration Network

Flotation motors face constant vibration and friction in the working process, resulting in wear and often need to be replaced, reducing production efficiency. In order to ensure the efficient operation of flotation equipment, we designed a manipulator to assist the work. The manipulator model is difficult to be accurate, and the diversity of external information brings great challenges to the precise control of the manipulator. Therefore, an Objective Sliding Mode Control (OSMC) strategy combined with Stepwise Stochastic Configuration Networks (SSCNs) is developed to solve the above problems while reducing the oscillation of the system. The SSCN is distinguished by its innovative node selection mechanism for the hidden layer, which operates in two distinct phases: initially, ‘single time’, where weights and biases are randomly assigned through a uniform distribution, and subsequently, ‘double time’, where these parameters are adjusted based on a normal distribution centered around the values selected in the first phase. This approach enhances the system’s robustness by incorporating a disturbance observer based on SSCN, designed to accurately estimate and compensate for system uncertainties. The simulation model realistically integrates these uncertainties and disturbances, demonstrating the effectiveness of the proposed OSMC in satisfying the stringent control requirements of mechanical arms under uncertain conditions. This advancement offers a promising new method for the precise control of robotic systems in challenging environments.