TY - GEN
T1 - Nonsingular Terminal Sliding-Mode Control For Robotic Manipulator System With Adaptive Uncertainty and Disturbance Rejection
AU - Xu, Zhilin
AU - Yang, Xuebo
AU - Hu, Meiling
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper investigates the fast adaptive tracking control problem for robotic manipulator system subject to parametric uncertainties and external disturbance. Based on the screw theory, the iterative algorithms for the kinematics and dynamics of composite rigid body have been established. To achieve desired trajectory tracking performance, an nonsingular terminal sliding-mode controller is engineered, where the lumped uncertainties and disturbance are well-rejected through adaptive techniques. Additionally, a boundary layer of sliding-mode manifold is introduced to eliminate the chattering phenomenon generated during switching the controller. At the same time, the influence of actual control frequency on the consequently discretized proposed controller is carefully discussed. Experimented on the Webots platform, simulations conducted on a 6-DoF open chain robotic manipulator, GLUON-2L6-4L3, verify the capability of the designed control strategy.
AB - This paper investigates the fast adaptive tracking control problem for robotic manipulator system subject to parametric uncertainties and external disturbance. Based on the screw theory, the iterative algorithms for the kinematics and dynamics of composite rigid body have been established. To achieve desired trajectory tracking performance, an nonsingular terminal sliding-mode controller is engineered, where the lumped uncertainties and disturbance are well-rejected through adaptive techniques. Additionally, a boundary layer of sliding-mode manifold is introduced to eliminate the chattering phenomenon generated during switching the controller. At the same time, the influence of actual control frequency on the consequently discretized proposed controller is carefully discussed. Experimented on the Webots platform, simulations conducted on a 6-DoF open chain robotic manipulator, GLUON-2L6-4L3, verify the capability of the designed control strategy.
KW - Adaptive technique
KW - Boundary layer control
KW - Discrete-time system
KW - Screw theory
KW - Terminal Sliding-mode control
UR - https://www.scopus.com/pages/publications/85189307894
U2 - 10.1109/CAC59555.2023.10450478
DO - 10.1109/CAC59555.2023.10450478
M3 - 会议稿件
AN - SCOPUS:85189307894
T3 - Proceedings - 2023 China Automation Congress, CAC 2023
SP - 7208
EP - 7213
BT - Proceedings - 2023 China Automation Congress, CAC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 China Automation Congress, CAC 2023
Y2 - 17 November 2023 through 19 November 2023
ER -