Abstract
This article proposes a control strategy that combines the double power reaching law with the modified terminal sliding mode for tracking tasks of rigid robotic manipulators quickly and accurately. As a significant novelty, double power reaching law can reach the sliding surface in finite time when the system is in any initial state. At the same time, modified terminal sliding surface guarantees the system that position and velocity error converge to be zero approximately. In other words, the control law is able to make the system slip to the equilibrium point in a finite time and improves the speed of the system approaching and sliding modes. The simulation results demonstrate the practical implementation of the control strategy, verify its robustness of more accurate tracking and faster disturbance rejection, and weaken the chattering phenomenon more effectively compared with the conventional terminal sliding mode controller.
Highlights
Manipulator is a kind of complex system with strong coupling and nonlinearity
In the literature,[13,14] the Sliding mode control (SMC) method based on double power reaching law (DPRL) is applied to the manipulator system, and stability of the system is proved in finite time
The traditional power reaching law (PRL) is s_ 1⁄4 Àk1sgna[1] ðsÞ k1 > 0; 0 < a1 < 1; the adopted DPRL is shown in formula (7), which can guarantee the system to reach the sliding surface rapidly
Summary
Manipulator is a kind of complex system with strong coupling and nonlinearity. At the same time, there are some uncertain factors, such as modeling error and external disturbance, when the mathematical model is set up in actual working conditions. The design of the sliding mode variable structure control law has little effect on the variation of parameters and disturbance performance of random occurrence of the manipulator system that is not so sensitive and suited for the strong nonlinear manipulator system. In the literature,[13,14] the SMC method based on DPRL is applied to the manipulator system, and stability of the system is proved in finite time. A new TSM surface is proposed and compared with the traditional terminal sliding mode surface.[15] The time expression of the system reaching the sliding surface is obtained by the DPRL in any initial state.[16,17] At the same time, it is necessary to determine the finite time according to the specific parameter of the reaching law. The tracking control effect of the manipulator is obvious, and the chattering phenomenon of the manipulator is reduced effectively
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