Abstract
This paper presents a novel fixed-time sliding mode control for the global fixed-time trajectory tracking of robot manipulators subject to uncertain dynamics and bounded external disturbances. A fixed-time sliding surface is proposed and a singularity-free fixed-time sliding mode control (SFSMC) is constructed. Lyapunov stability theory is employed to prove the global fixed-time stability ensuring that both the sliding variable and tracking errors converge globally to the origin within a fixed time. The appealing advantages of the proposed control are that it is easy to implement with the global fixed-time tracking control for uncertain robot manipulators featuring with faster transient, higher steady-state tracking precision, and the settling time is independent of the initial states of robotic system. Extensive simulations and experimental results are presented to demonstrate the effectiveness and improved performances of the proposed approach.
Highlights
During the past decades, many significant research efforts [1]–[9] have been devoted to investigating the trajectory tracking of robot manipulators subject to uncertain dynamics and bounded external disturbances
Simplicity of implementation, order reduction, high robustness to external disturbances and insensitivity to uncertain dynamics and system parameter variations, sliding mode controls (SMC) has widely been used for the trajectory tracking of robot manipulators with uncertain dynamics and bounded external disturbances
In this paper, a novel singularity-free fixed-time sliding mode control have been developed for global fixed-time tracking of robot manipulators subject to uncertain dynamics and bounded external disturbances
Summary
Many significant research efforts [1]–[9] have been devoted to investigating the trajectory tracking of robot manipulators subject to uncertain dynamics and bounded external disturbances. Among them, sliding mode controls (SMC) [1]–[4] featuring with the insensitivity property to uncertain dynamics and bounded external disturbances is a powerful method to control uncertain robot manipulators. The sliding surface is chosen such that an SMC system can behave in a desirable fashion and the proposed controller is designed to guarantee that the system can be driven to reach the sliding surface and remain on it for further time. Simplicity of implementation, order reduction, high robustness to external disturbances and insensitivity to uncertain dynamics and system parameter variations, SMC has widely been used for the trajectory tracking of robot manipulators with uncertain dynamics and bounded external disturbances.
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