A Backstepping Global Fast Terminal Sliding Mode Control for Trajectory Tracking Control of Industrial Robotic Manipulators

被引：89

作者：

Truong, Thanh Nguyen ^{[1
]}

Vo, Anh Tuan ^{[1
]}

Kang, Hee-Jun ^{[1
]}

机构：

[1] Univ Ulsan, Dept Elect Elect & Comp Engn, Ulsan 44610, South Korea

来源：

IEEE ACCESS | 2021年 / 9卷

基金：

新加坡国家研究基金会;

关键词：

Convergence; Robots; Sliding mode control; Uncertainty; Backstepping; Torque; Transient response; Backstepping control; robotic manipulators; sliding mode control; global fast terminal sliding mode control; high-order sliding mode control; FAULT-TOLERANT CONTROL; SYSTEMS;

D O I：

10.1109/ACCESS.2021.3060115

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a backstepping global fast terminal sliding mode control for trajectory tracking control of industrial robotic manipulators in this article. An integral of the global fast terminal sliding mode surface is firstly suggested to improve the dynamic performance and fast convergence of Sliding Mode Control (SMC) and Terminal SMC (TSMC), which also obtains a finite-time convergence. A controller is then developed from the proposed sliding surface using the backstepping control method and High-Order SMC (HOSMC) to ensure the global stability of the control system. Thanks to this proposed method, the controller provides small position and velocity control errors with less oscillation, smooth control torque, and convergence of the control errors in the short time. The stability and convergence also are guaranteed with Lyapunov theory. Finally, computer simulation verifies the effectiveness of the designed controller.

引用

页码：31921 / 31931

页数：11

共 52 条

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