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

Thanh Nguyen Truong,Hee-Jun Kang,Anh Tuan Vo

doi:10.1109/access.2021.3060115

Thanh Nguyen Truong, Hee-Jun Kang + Show 1 more

Open Access

https://doi.org/10.1109/access.2021.3060115

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Abstract

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.

Highlights

With the fast development of automation in the era of industry, robots are crucial for trade, engineering, medical, space, and ocean exploration, and so on [1]–[3]
Numerous methodologies have been introduced to deal with uncertainties, such as Computed Torque Control (CTC) [4], Adaptive Control [5], [6], Sliding Mode Control (SMC) [7], [8], PID Control [9], [10], Optimal Control [11], or some control methods [12]–[14]
In order to provide a finite-time convergence while enhancing the convergence characteristics of the dynamic system, some methods are known as Terminal Sliding Mode Control (TSMC) [19] and Fast Terminal SMC (FTSMC) [20] have been proposed

Summary

INTRODUCTION

With the fast development of automation in the era of industry, robots are crucial for trade, engineering, medical, space, and ocean exploration, and so on [1]–[3]. In order to provide a finite-time convergence while enhancing the convergence characteristics of the dynamic system, some methods are known as Terminal Sliding Mode Control (TSMC) [19] and Fast Terminal SMC (FTSMC) [20] have been proposed. Truong et al.: Backstepping Global FTSMC for Trajectory Tracking Control of Industrial Robotic Manipulators still exists in the control input as well as the singularity problem To tackle this problem, a type of SMC technique called Nonsingular Fast Terminal SMC (NFTSMC) was developed [21]–[24]. Integral of the global fast terminal sliding mode surface has been developed, which provides a fast-transient response time and finite-time convergence and non-singular problem. The proposed method has values of NFTSMC, backstepping control method, and HOSMC Its advantages, such as easy implementation, non-singularity, robustness in uncertainty elimination, high accuracy, fast transient response, and quick convergence in finite-time.

PROBLEM STATEMENT

VALIDATION AND DISCUSSION

CONCLUSION