TY - GEN
T1 - Fixed-Time Sliding Mode Trajectory Tracking Control for Live-Line Robotic Manipulators under External Disturbances
AU - Liu, Xinwei
AU - Chen, Weiliang
AU - Yao, Wen Jing
AU - Zhang, Yadong
AU - Zhao, Xin
AU - Liu, Zhuang
AU - Liu, Jianxing
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - This article investigate the trajectory tracking control problem for live-line working robots during task execution by proposing a fixed-time sliding mode control (FxTSMC) scheme. The designed controller is based on a fixed-time sliding mode variable. First, a nonsingular fixed-time sliding surface is proposed, with proof that the trajectories of system will first reach a neighborhood of the origin within a fixed time and then converge to it asymptotically. To counteract external disturbances during robotic manipulator operation, a fixed-time sliding mode control observer (FxTSMDO) is developed, which enhances system robustness through feedforward compensation using estimated values. Finally, numerical simulations demonstrate the effectiveness and superiority of the presented controller.
AB - This article investigate the trajectory tracking control problem for live-line working robots during task execution by proposing a fixed-time sliding mode control (FxTSMC) scheme. The designed controller is based on a fixed-time sliding mode variable. First, a nonsingular fixed-time sliding surface is proposed, with proof that the trajectories of system will first reach a neighborhood of the origin within a fixed time and then converge to it asymptotically. To counteract external disturbances during robotic manipulator operation, a fixed-time sliding mode control observer (FxTSMDO) is developed, which enhances system robustness through feedforward compensation using estimated values. Finally, numerical simulations demonstrate the effectiveness and superiority of the presented controller.
KW - Fixed-time stability
KW - disturbance observer
KW - live-line maintenance robot
KW - robotic manipulator
KW - sliding mode control (SMC)
UR - https://www.scopus.com/pages/publications/105040996085
U2 - 10.1109/CAC67268.2025.11487285
DO - 10.1109/CAC67268.2025.11487285
M3 - 会议稿件
AN - SCOPUS:105040996085
T3 - Proceedings - 2025 China Automation Congress, CAC 2025
SP - 3486
EP - 3491
BT - Proceedings - 2025 China Automation Congress, CAC 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 China Automation Congress, CAC 2025
Y2 - 26 September 2025 through 28 September 2025
ER -