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

被引:24
作者
Quang Vinh Doan [1 ]
Anh Tuan Vo [2 ]
Tien Dung Le [1 ]
Kang, Hee-Jun [3 ]
Ngoc Hoai An Nguyen [2 ]
机构
[1] Univ Danang Univ Sci & Technol, 54 Nguyen Luong Bang St, Danang 550000, Vietnam
[2] Univ Danang Univ Technol & Educ, Elect & Elect Engn Dept, Danang 550000, Vietnam
[3] Univ Ulsan, Sch Elect Engn, Ulsan 44610, South Korea
来源
APPLIED SCIENCES-BASEL | 2020年 / 10卷 / 09期
关键词
super-twisting control law; robot manipulators; fast terminal sliding mode control;
D O I
10.3390/app10093010
中图分类号
O6 [化学];
学科分类号
0703 ;
摘要
Featured Application Featured Application: This paper proposed the control synthesis, which can be performed in the trajectory tracking control for various robot manipulators as well as in other mechanical systems, the control of the higher-order system, several uncertain nonlinear systems, or chaotic systems. Abstract This paper comes up with a novel Fast Terminal Sliding Mode Control (FTSMC) for robot manipulators. First, to enhance the response, fast convergence time, against uncertainties, and accuracy of the tracking position, the novel Fast Terminal Sliding Mode Manifold (FTSMM) is developed. Then, a Supper-Twisting Control Law (STCL) is applied to combat the unknown nonlinear functions in the control system. By using this technique, the exterior disturbances and uncertain dynamics are compensated more rapidly and more correctly with the smooth control torque. Finally, the proposed controller is launched from the proposed sliding mode manifold and the STCL to provide the desired performance. Consequently, the stabilization and robustness criteria are guaranteed in the designed system with high-performance and limited chattering. The proposed controller runs without a precise dynamic model, even in the presence of uncertain components. The numerical examples are simulated to evaluate the effectiveness of the proposed control method for trajectory tracking control of a 3-Degrees of Freedom (DOF) robotic manipulator.
引用
收藏
页数:16
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