Finite-time robust control of robotic manipulator with input deadzone and time-varying disturbance compensation

Rauf, Arshad; Zhao, Zhengen; Khan, Awais Gul; Ilyas, Muhammad; Abbasi, Waseem

doi:10.1177/01423312221126231

Cited by 3 publications

(1 citation statement)

References 38 publications

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“…Nonsingular terminal sliding mode (NTSM) was proposed and used to address the problem of singularity (Chen and Lin, 2010). NTSM has good accuracy of tracking, fast convergence, and the property of avoidance of singularity (Madani et al, 2016a(Madani et al, , 2016b and continuous non-singular terminal SMC (Rauf et al, 2022). Moreover, a new non-singular fast terminal sliding mode (NFTSM) controller for non-linear dynamic systems is proposed in Yang and Yang (2011).…”

Section: Introductionmentioning

confidence: 99%

Extended state observer–based improved non-singular fast terminal sliding mode for mobile manipulators

Algrnaodi

Saad

et al. 2023

Transactions of the Institute of Measurement and Control

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The robust non-singular fast terminal sliding mode (NFTSM) controller is adopted in this work to solve the problem of tracking trajectory of a mobile manipulator (MM) suffering from uncertainties. The NFTSM method has the capability to ensure convergence rate and to provide good tracking accuracy and robustness against external perturbations and parameter uncertainties (total disturbances). However, the NFTSM controller needs high discontinuous gain to reject the effect of strong disturbances, which results in vibrations in the steady-state and chattering in the control law. To solve these issues, an extended state observer–based NFTSM technique is proposed for [Formula: see text]-degree of freedom (DoF) coupling MM. The proposed method is designed to approximate and compensate in real-time the uncertainties. It also ensures robustness against total disturbances, good convergence rate, and good tracking accuracy. The stability of the proposed control is also verified based on the Lyapunov theory. Experimental works are conducted on a 5-degree-of-freedom (5-DoF) MM where the results obtained demonstrate the effectiveness of the developed technique and prove the stability of the closed-loop system.

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Section: Introductionmentioning

confidence: 99%

Extended state observer–based improved non-singular fast terminal sliding mode for mobile manipulators

Algrnaodi

Saad

et al. 2023

Transactions of the Institute of Measurement and Control

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A fixed-time nonsingular terminal sliding mode control based on radial basis function neural network for vehicle active front steering system

Chen,

Mei,

Liu

et al. 2024

Transactions of the Institute of Measurement and Control

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In our work, a novel fixed-time nonsingular terminal sliding mode controller is developed to improve the control performance for the active front steering system of electric vehicles. First, the sliding mode surface and the sliding mode convergence law are constructed so that the sliding variable can be stabilized to zero at a fixed time. Moreover, the radial basis function neural network is introduced to estimate the systematic uncertainties, which can make the system have stronger anti-disturbance ability. The Lyapunov analysis also is given to verify the fixed-time stability of the whole system. The presented control scheme possesses two appealing advantages, including the strong robustness to perturbations and the fixed-time convergence to zero. Notably, the settling time is independent of the initial value while only related to the controller parameters. Through the joint simulation of CarSim and MATLAB, the given controller is compared with the conventional sliding mode controller and nonsingular terminal sliding mode controller to demonstrate the plausibility and validity of the presented control strategy.

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Adaptive control of robotic manipulator with input deadzone and disturbances/uncertainties

Rauf,

Rehman,

Khan

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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This work address the problem of trajectory tracking for robotic manipulator while encountering external disturbances and internal uncertainties. Robotic manipulators have been widely used in various industrial and research applications due to their versatility and efficiency. The precise control of these manipulators is essential for their proper functioning. However, due to the presence of uncertainties and disturbances in the system, it is often challenging to achieve accurate control. The proposed controller is capable of handling the uncertainties and disturbances present in the system, making it robust and efficient for practical applications. The controller is designed based on the concept of second-order nonsingular terminal sliding mode control (SNTSMC), which ensures that the system tracks the desired trajectory accurately. The substitution of the sign function with the saturation function effectively reduces the chattering that is caused by the high-frequency switching element in the conventional SMC approach. By utilizing an adaptive technique, uncertainties can be effectively mitigated without relying on any prior knowledge of an upper limit. Moreover, the Lyapunov stability criterion is used to prove the stability of the closed-loop system. The simulation results show the effectiveness of the proposed algorithm in terms of tracking accuracy and robustness.

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Finite-time robust control of robotic manipulator with input deadzone and time-varying disturbance compensation

Cited by 3 publications

References 38 publications

Extended state observer–based improved non-singular fast terminal sliding mode for mobile manipulators

Extended state observer–based improved non-singular fast terminal sliding mode for mobile manipulators

A fixed-time nonsingular terminal sliding mode control based on radial basis function neural network for vehicle active front steering system

Adaptive control of robotic manipulator with input deadzone and disturbances/uncertainties

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