Fuzzy Adaptive Super-Twisting Sliding Mode Asymptotic Tracking Control of Robotic Manipulators

被引：8

作者：

Li, Zeyu ^{[1
]}

Zhai, Junyong ^{[1
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

来源：

INTERNATIONAL JOURNAL OF FUZZY SYSTEMS | 2024年 / 26卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Sliding mode control; Backlash; Fuzzy logic system; Robotic manipulator; Adaptive control; NONLINEAR-SYSTEMS; STABILITY; OBSERVERS; SCHEME; DESIGN; ORDER;

D O I：

10.1007/s40815-023-01573-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a novel fuzzy adaptive sliding mode control method is proposed for realizing the asymptotic trajectory tracking of robotic manipulators with control backlash and uncertainties. The fuzzy logic system is introduced into the sliding mode control to estimate the system uncertainties. For compensating the unknown lumped disturbance and accelerating the convergence process, an adaptive super-twisting sliding mode controller is proposed with a novel adaptive law. The system states reach the sliding mode surface in a finite time and the control effect is continuous without over-estimation and control chattering. Depending on the Lyapunov stability theory, the tracking error converges to zero in a fast-exponential form. The effectiveness of the proposed method is fully indicated by the simulation of a robotic manipulator system.

引用

页码：34 / 43

页数：10

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