An FASA Based Fixed-Time Sliding Mode Control for Robotic Manipulator

被引：0
|
作者：
Zhang, Yu [1 ]
Meng, Fanwei [1 ]
Li, Bin [2 ]
机构：
[1] Northeastern Univ Qinhuangdao, Sch Control Engn, Qinhuangdao 066004, Hebei, Peoples R China
[2] Sichuan Univ, Sch Aeronaut & Astronaut, Chengdu 610065, Peoples R China
来源：
2024 3RD CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, FASTA 2024 | 2024年
关键词：
Fully-actuated system; Fixed-time stability; Robotic manipulator; Sliding mode control; STABILITY;
D O I：
10.1109/FASTA61401.2024.10595135
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates the fixed-time tracking error control for the robotic system with external disturbances based on the fully-actuated system approach (FASA). Firstly, a fixed-time sliding function is introduced and the fixed-time convergence of the sliding phase is verified. Secondly, combining the structure of the sliding function and the FASA, a fixed-time sliding mode controller (FSMC) is proposed. The stability of the system and the fixed-time convergence of the tracking error are proven. Finally, numerical simulation is carried out and experimental studies are provided by using a Franka manipulator for demonstrating the effectiveness of the proposed control method.
引用
收藏
页码：1029 / 1034
页数：6
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