Adaptive Non-Singular Fast Terminal Sliding Mode Trajectory Tracking Control for Robot Manipulators

Abstract

In order to improve the efficiency of human–robot interaction (HRI), it is necessary to carry out research on precise control of the manipulator. In this paper, an adaptive non-singular fast terminal sliding mode control scheme is proposed for robot manipulators to solve the trajectory tracking problem with model uncertainty and external disturbances. At first, a novel non-singular fast terminal sliding mode surface is proposed, and by introducing an auxiliary function, the singularity problem caused by the inverse of the error-related matrix could be avoided in the controller design process. Then, the controller is developed by using Lyapunov synthesis. A robust adaptive strategy is used to deal with lumped uncertainty, with an adaptive update law designed to compensate for the upper bound of lumped uncertainty whose upper bound is prior unknown. Finally, a two-link robot manipulators as a simulation example is given to illustrate the effectiveness of the proposed scheme. Compared with other similar algorithms, the proposed adaptive non-singular fast terminal sliding mode control scheme has higher efficiency and smaller computational complexity for the reason that no piecewise continuous function is needed to be constructed during the controller design.

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

“…Robot manipulators face several obstacles in achieving the accurate control objective of positioning tracking such as load variation, disturbances, uncertainties, friction and coupling, nonlinearity, hysteresis, high-order, and underactuated property [5], [20]- [22]. Therefore, several advanced control strategies have been proposed to overcome these impediments thanks to the prosperous growth in integrated circuits, embedded systems, sensing techniques, and computer technologies in recent years [23].…”

“…To provide fast and highprecision trajectory tracking under model uncertainty and perturbations. An adaptive non-singular fast terminal sliding mode control commonly known as (ANSFTSMC) has been proposed by [22]. In this research work, a simple demonstration was done utilizing a two-link robot manipulator.…”

Research on Neural Network Terminal Sliding Mode Control of Robotic Arms Based on Novel Reaching Law and Improved Salp Swarm Algorithm

“…With the development of automation and intelligent manufacturing, the application scope of robots and automation equipment is becoming increasingly extensive. As integral components of robots, robotic arms are widely utilized in various fields, such as production, manufacturing, healthcare, aviation, logistics, and agriculture [1]. Trajectory tracking of robotic arms is a crucial technique in robot control, enabling them to accurately follow a given path in space, thereby achieving high-quality manufacturing and automation operations.…”