Abstract
To improve the tracking precision of robot manipulators’ end-effector with uncertain kinematics and dynamics in the task space, a new control method is proposed. The controller is based on time delay estimation and combines with the nonsingular terminal sliding mode (NTSM) and adaptive fuzzy logic control scheme. Kinematic parameters are not exactly required with the consideration of kinematic uncertainties in the controller. No dynamic models or numerous parameters of the robot manipulator system are required with the use of TDE. Thus, the controller is simple structure and suitable for practical applications. Furthermore, errors caused by time delay estimation are compensated by the adaptive fuzzy nonsingular terminal sliding mode scheme. The simulation is performed on a 2-DOF robot manipulator with three cases in the task space. The results show that the proposed controller provides faster convergence rate and higher tracking precision than TDE based NTSM and improved TDE based NTSM controller.
Highlights
Robot manipulators play an important role in the industry automation field in recent years [1,2,3]
Engineers have sought to realize their automatic control by various control methods, such as sliding mode control (SMC) [4,5,6,7], adaptive control [8], neural network methods [9], and fuzzy logic control [10]
(3) The adaptive fuzzy logic scheme is implemented as the third element to compensate the time delay estimation (TDE) error and eliminate the undesired chattering in nonsingular terminal sliding mode (NTSM). (4) The controller is easy to implement with simple structure, and it is suitable for practical applications
Summary
Robot manipulators play an important role in the industry automation field in recent years [1,2,3]. It is difficult to establish an accurate dynamic model of a robot manipulator system, which limits the practical applications of the control methods. To improve the convergence rate and tracking precision, the nonlinear error dynamics such as nonsingular terminal sliding mode (NTSM) were used together with TDE by recent work [23, 24]. In order to solve the above problems, a novel control method is proposed for trajectory tracking of robot manipulator’s end-effector in the task space. The controller is based on TDE and combines with the NTSM and adaptive fuzzy logic control scheme. (3) The adaptive fuzzy logic scheme is implemented as the third element to compensate the TDE error and eliminate the undesired chattering in NTSM. The contributions of this controller are listed as follows. (1) The kinematic uncertainties of the manipulator are taken into consideration without the prior knowledge of system. (2) No dynamic models of the robot manipulator system are required. (3) The adaptive fuzzy logic scheme is implemented as the third element to compensate the TDE error and eliminate the undesired chattering in NTSM. (4) The controller is easy to implement with simple structure, and it is suitable for practical applications
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