A New Model-Free Trajectory Tracking Control for Robot Manipulators

Yaoyao Wang,Hongtao Wu,Bai Chen,Kangwu Zhu

doi:10.1155/2018/1624520

Abstract

In this paper, we propose a novel model-free trajectory tracking control for robot manipulators under complex disturbances. The proposed method utilizes time delay control (TDC) as its control framework to ensure a model-free scheme and uses adaptive nonsingular terminal sliding mode (ANTSM) to obtain high control accuracy and fast dynamic response under lumped disturbance. Thanks to the application of adaptive law, the proposed method can ensure high tracking accuracy and effective suppression of noise effect simultaneously. Stability of the closed-loop control system is proved using Lyapunov method. Finally, the effectiveness and advantages of the newly proposed TDC scheme with ANTSM dynamics are verified through several comparative simulations.

Highlights

Robot manipulators have been widely used in lots of fields due to their strong capacity to realize all kinds of automatic working tasks [1, 2]
The effectiveness and advantages of the newly proposed time delay control (TDC) scheme with adaptive nonsingular terminal sliding mode (ANTSM) dynamics are verified through several comparative simulations
To effectively settle the above issues, we propose a novel TDC scheme with ANTSM dynamics for the robot manipulators in this work

Summary

A New Model-Free Trajectory Tracking Control for Robot Manipulators

Received 17 September 2018; Revised 14 November 2018; Accepted November 2018; Published December 2018. We propose a novel model-free trajectory tracking control for robot manipulators under complex disturbances. The proposed method utilizes time delay control (TDC) as its control framework to ensure a model-free scheme and uses adaptive nonsingular terminal sliding mode (ANTSM) to obtain high control accuracy and fast dynamic response under lumped disturbance. Thanks to the application of adaptive law, the proposed method can ensure high tracking accuracy and effective suppression of noise effect simultaneously. Stability of the closed-loop control system is proved using Lyapunov method. The effectiveness and advantages of the newly proposed TDC scheme with ANTSM dynamics are verified through several comparative simulations

Introduction

TDC Scheme Design with ANTSM

Stability Analysis

Simulation Studies

Conclusions