A Novel Fast Terminal Sliding Mode Tracking Control Methodology for Robot Manipulators

Doan, Quang Vinh; Vo, Anh Tuan; Le, Tien Dung; Kang, Hee-Jun; Nguyen, Ngoc Hoai An

doi:10.3390/app10093010

Cited by 29 publications

(25 citation statements)

References 40 publications

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“…Several papers deal with control problems, applied to both robotic systems and mechanical vibrations. In paper [7], a novel sliding mode control algorithm is presented and applied for the trajectory tracking on a robotic manipulator with 3 degrees of freedom (DOF). The proposed controller runs without a precise dynamic model in the presence of uncertainties and enhances the response, fast convergence time, and accuracy of the tracking position.…”

Section: Modelling and Control Of Mechatronic And Robotic Systemsmentioning

confidence: 99%

Modelling and Control of Mechatronic and Robotic Systems

2021

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Section: Modelling and Control Of Mechatronic And Robotic Systemsmentioning

confidence: 99%

Modelling and Control of Mechatronic and Robotic Systems

2021

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“…A great deal of effort has been devoted to the finite-time convergence guarantee of the system states. The control methods that could provide finite-time stability include the higherorder sliding mode control (HOSMC) [10,11], the terminal SMC (TSMC) [12,13], the nonsingular TSMC (NTSMC) [14,15], fast TSMC (FTSMC) [16,17], global FTSMC (GFTSMC) [18,19], the nonsingular fast TSMC (NFTSMC) [20,21], and the finite-time TSMC (FnTSMC) [22,23]. HOSMC is capable of providing finite-time stability, and chattering reduction can also be achieved by regularization of switching functions and by considering (virtual) actor dynamics as input low-pass filters.…”

Section: Introductionmentioning

confidence: 99%

A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability

Truong

Kang

et al. 2021

Sensors

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In this paper, a robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed. The novel fixed-time nonsingular sliding mode surface enables control errors to converge to the equilibrium point quickly within fixed time without singularity. The development of the novel fixed-time disturbance observer based on a uniform robust exact differentiator also allows uncertain terms and exterior disturbances to be proactively addressed. The designed observer can accurately approximate uncertain terms within a fixed time and contribute to significant chattering reduction in the traditional sliding mode control. A robust observer-based control strategy was formulated, according to a combination of the fixed-time nonsingular terminal sliding mode control method and the designed observer, to yield global fixed time stability for n-DOF uncertain robot manipulators. The proposed controller proved definitively that it was able to obtain global stabilization in fixed time. The approximation capability of the proposed observer, the convergence of the proposed sliding surface, and the effectiveness of the proposed control strategy in fixed time were fully confirmed by simulation performance on an industrial robot manipulator.

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“…e dynamic control is designed according to the dynamic characteristics of robot manipulators, so it can make the control quality of the system better [1,2]. At present, the commonly used dynamic control methods mainly include intelligent PID control [3][4][5], iterative learning control [6][7][8][9], adaptive neural network control [10][11][12][13], sliding mode control [14][15][16], and active disturbance rejection control [17,18]. Aiming at ndegree-of-freedom rigid robots, Hernández-Guzmán and Orrante-Sakanassi [4] proposed a control scheme for directdrive brushless direct-current (BLDC) motors, which solved the position control problem of n direct-drive BLDC with complex, nonlinear, and highly coupled mechanical loads.…”

Section: Introductionmentioning

confidence: 99%

Modified Linear Active Disturbance Rejection Control for Uncertain Robot Manipulator Trajectory Tracking

Xiao

Shen

2021

Mathematical Problems in Engineering

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To solve the problems of model uncertainties, dynamic coupling, and external disturbances, a modified linear active disturbance rejection controller (MLADRC) is proposed for the trajectory tracking control of robot manipulators. In the computer simulation, MLADRC is compared to the proportional-derivative (PD) controller and the regular linear active disturbance rejection controller (LADRC) for performance tests. Multiple uncertain factors such as friction, parameter perturbation, and external disturbance are sequentially added to the system to simulate an actual robot manipulator system. Besides, a two-degree-of-freedom (2-DOF) manipulator is constructed to verify the control performance of the MLADRC. Compared with the regular LADRC, MLADRC is significantly characterized by the addition of feedforward control of reference angular acceleration, which helps robot manipulators keep up with target trajectories more accurately. The simulation and experimental results demonstrate the superiority of the MLADRC over the regular LADRC for the trajectory tracking control.

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A Novel Fast Terminal Sliding Mode Tracking Control Methodology for Robot Manipulators

Cited by 29 publications

References 40 publications

Modelling and Control of Mechatronic and Robotic Systems

Modelling and Control of Mechatronic and Robotic Systems

A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability

Modified Linear Active Disturbance Rejection Control for Uncertain Robot Manipulator Trajectory Tracking

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