Abstract
An adaptive nonsingular terminal sliding mode control (ANTSMC) scheme for the n-link robot manipulator is presented in this study, which can achieve faster convergence and higher precision tracking compared with the linear hyperplane-based sliding mode control. Novel adaptive updating laws based on the actual tracking error are employed to online adjust the upper bound of uncertainty, which comprehensively consider both the tracking performance and chattering eliminating problem. The stability analysis of the proposed ANTSMC is verified using the Lyapunov method with the existence of the parameter uncertainty and the actuator faults. Numerical simulation studies the comparison of performance between ANTSMC and the conventional nonsingular terminal sliding mode control (NTSMC) scheme to validate the advantages of the proposed control algorithm.
Highlights
Robot manipulators play a pivotal role in the modern industrial field, whose dynamics are typically multi-input multioutput (MIMO) nonlinear systems
For the uncertain n-link robot manipulator (described by equation (3)), if the adaptive nonsingular terminal sliding mode control (ANTSMC) manifold and its input command are formulated by equations (10)–(16) and Assumption 1 holds, the system tracking error ε will converge to zero in finite time
The finite-time converge characteristic of the NTSMC has been approved for trajectory stabilization of the single-input single-output (SISO) nonlinear systems in [18]; we further extended the corresponding study to the trajectory tracking of the MIMO
Summary
Robot manipulators play a pivotal role in the modern industrial field, whose dynamics are typically multi-input multioutput (MIMO) nonlinear systems. A dynamics estimation method based on an adaptive algorithm and fuzzy logic is introduced to the nonsingular TSMC for a class of MIMO uncertain nonlinear systems [21]. The upper bound uncertainty of the nonsingular TSMC for the robot manipulator is conventionally designed as a fixed one, which will bring a trade-off problem between the control accuracy and the control chattering. Motivated by the above discussion, an adaptive nonsingular TSMC scheme for the robot manipulators with the existence of the parameter uncertainty and the actuator faults is derived in this paper, which can online tune the upper bound of the uncertainty to ensure the high precise tracking performance, finite time convergence, and Lyapunov stability
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