Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control

Yaobin Song,Hui Li,Xiaoling Shi

doi:10.1155/2020/5426087

Abstract

To facilitate the stabilization of nonlinear underactuated robotic systems under perturbation, a novel nonsingular fast terminal sliding mode control method is proposed. Based on the system transformation into an integrator chain, the combination of twisting-like algorithm and a nonsingular fast terminal sliding mode control technique is employed to achieve the stabilization of the studied systems, which can drive the robot states (joint positions and velocities) to the desired region and then maintain the system at the equilibrium point in finite time. The robustness of the proposed method is validated by the Lyapunov direct method. Finally, numerical simulation results further demonstrate that the proposed method has better performance on the convergent speed of the system state (robot joint positions and velocities) than state-of-the-art methods, especially for the underactuated joints.

Highlights

Robotics technologies have been widely applied to various industrial applications, such as agriculture [1, 2], mining [3], and manufacturing [4,5,6]
(2) A nonsingular terminal sliding-mode control method is proposed on the simplified underactuated robotic system, where the robustness of the designed method is proved via the Lyapunov method
Methodologies is section provides the detailed methodologies on the design of the nonsingular fast terminal sliding mode control

Summary

Introduction

Robotics technologies have been widely applied to various industrial applications, such as agriculture [1, 2], mining [3], and manufacturing [4,5,6]. (1) is work uses a method that combines the coordinate transformation and twisting-like methods to model a CPS system, making the dynamics of the CPS system simpler to be controlled (2) A nonsingular terminal sliding-mode control method is proposed on the simplified underactuated robotic system, where the robustness of the designed method is proved via the Lyapunov method (3) e simulation results show that the proposed method has better control performance on the convergent speed, than other state-of-the-art methods e remainder of this paper is organized as follows: Section 2 describes the problem statement of this work; Section 3 illustrates the detailed methodologies on the system treatments and controller design, as well as the stability analysis; Section 4 shows the comparative study based on numerical simulations; Section 5 briefly summarizes this paper

Problem Statement

Stability Analysis

Simulations