A Novel Fast Terminal Sliding Mode Tracking Control Methodology for Robot Manipulators
| Autor: | Hee-Jun Kang, Ngoc Hoai An Nguyen, Anh Tuan Vo, Quang Vinh Doan, Tien Dung Le |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Terminal sliding mode Robot manipulator 02 engineering and technology lcsh:Technology lcsh:Chemistry fast terminal sliding mode control 020901 industrial engineering & automation Control theory Robustness (computer science) 0202 electrical engineering electronic engineering information engineering General Materials Science lcsh:QH301-705.5 Instrumentation Fluid Flow and Transfer Processes lcsh:T Process Chemistry and Technology General Engineering lcsh:QC1-999 Computer Science Applications Nonlinear system lcsh:Biology (General) lcsh:QD1-999 lcsh:TA1-2040 Control system Control torque robot manipulators 020201 artificial intelligence & image processing super-twisting control law lcsh:Engineering (General). Civil engineering (General) lcsh:Physics Control methods |
| Zdroj: | Applied Sciences Volume 10 Issue 9 Applied Sciences, Vol 10, Iss 3010, p 3010 (2020) |
| ISSN: | 2076-3417 |
| DOI: | 10.3390/app10093010 |
| Popis: | This paper comes up with a novel Fast Terminal Sliding Mode Control (FTSMC) for robot manipulators. First, to enhance the response, fast convergence time, against uncertainties, and accuracy of the tracking position, the novel Fast Terminal Sliding Mode Manifold (FTSMM) is developed. Then, a Supper-Twisting Control Law (STCL) is applied to combat the unknown nonlinear functions in the control system. By using this technique, the exterior disturbances and uncertain dynamics are compensated more rapidly and more correctly with the smooth control torque. Finally, the proposed controller is launched from the proposed sliding mode manifold and the STCL to provide the desired performance. Consequently, the stabilization and robustness criteria are guaranteed in the designed system with high-performance and limited chattering. The proposed controller runs without a precise dynamic model, even in the presence of uncertain components. The numerical examples are simulated to evaluate the effectiveness of the proposed control method for trajectory tracking control of a 3-Degrees of Freedom (DOF) robotic manipulator. |
| Databáze: | OpenAIRE |
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