Continuous Sliding Mode Control of Robotic Manipulators Based on Time-Varying Disturbance Estimation and Compensation

Abstract

To address the high-precision trajectory tracking task of uncertain robotic manipulators, a continuous sliding mode control (CSMC) scheme based on time-varying disturbance estimation and compensation is developed. The proposed control approach can not only avoid the chattering of the traditional sliding mode control (SMC) scheme and solve the problems existing in the application of the CSMC method but also make the robot obtain stronger disturbance rejection performance. Meanwhile, the stability of the closed-loop system under the recommended control approach is guaranteed by a defined Lyapunov function. Finally, the trajectory tracking and disturbance rejection performance of the 2-DOF robot under the action of the PID control, traditional SMC, CSMC, and present control methods are carried out, respectively. The results show the effectiveness and superiority of the proposed control method.INDEX TERMS Continuous sliding mode control (CSMC), time-varying disturbances, disturbance estimation, trajectory tracking.

Synchronous control system of virtual main-axis based on extended sliding mode disturbance observer

“…0, e . 0, therefore _ V \ 0, according to the above formula and the sliding mode equivalence principle, e 1 converges to 0, at this time vj À v j = 0; _ e 1 = 0, from formulas ( 16) and (17), formula (23) can be obtained as follows…”

“…[14][15][16] Hu et al designed a continuous sliding mode control based on time-varying disturbance estimation and compensation, so that the manipulator can obtain stronger disturbance immunity. 17 Zhu et al 18 adopted the online identification method of viscous friction coefficient and moment of inertia based on disturbance observer to reduce the influence of parameter uncertainty on the control system. Jiang et al 19 proposed an adaptive sliding mode control reference model that can effectively reduce flutter and can well suppress disturbances.…”

Adaptive Fractional-Order Non-Singular Fast Terminal Sliding Mode Control Based on Fixed Time Disturbance Observer for Manipulators

“…Taking the derivation of the above equation, combining equation (18), equation (19), and equation ( 21), we get…”

“…In short, sliding mode control has fast response speed and strong robustness, so it is widely used in practical applications such as manipulators, cable-driven manipulators, permanent magnet synchronous motors, etc. [16][17][18][19] Linear sliding mode control cannot ensure that the system state will reach the balance point within a certain time. In order to attain finite-time convergence of the system state, a terminal sliding mode (TSM) control is proposed in [20].…”

An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV

“…A continuous sliding mode control (CSMC) scheme is also developed for high-precision trajectory tracking tasks. This approach not only avoids chattering but also guarantees the stability of the system 10 . A fractional-order sliding mode fault-tolerant control method is proposed to follow the desired path.…”