Observer-Based Finite-Time Prescribed Performance Sliding Mode Control of Dual-Motor Joints-Driven Robotic Manipulators with Uncertainties and Disturbances
| Autor: | Jiqian Xu, Lijin Fang, Huaizhen Wang, Qiankun Zhao, Yingcai Wan, Yue Gao |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2024 |
| Předmět: |
dual-motor joints
robotic manipulators prescribed performance control sliding mode observer finite-time sliding mode control anti-backlash control Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841 |
| Zdroj: | Actuators, Vol 13, Iss 9, p 325 (2024) |
| Druh dokumentu: | article |
| ISSN: | 2076-0825 |
| DOI: | 10.3390/act13090325 |
| Popis: | Considering system uncertainties (e.g., gear backlash, unmodeled dynamics, nonlinear friction and parameters perturbation) coupling disturbances weaken the motion performance of robotic systems, an observer-based finite-time prescribed performance sliding mode control with faster reaching law is proposed for robotic manipulators equipped with dual-motor joints (DMJs). In the case where the backlash information is completely unknown, the backlash is maximally eliminated using a simple but efficient dual-motor adaptive anti-backlash strategy. Thus, the design of position tracking controllers for DMJs can be simplified. Then, to deal with the influence of disturbances and residual uncertainties (excluding backlash), a novel finite-time adaptive sliding mode disturbance observer (ASMDO) is proposed to practically estimate the lumped uncertainties where their upper bounds are assumed to be unknown. Finally, a finite-time composite fast non-singular terminal sliding mode (TSM) controller, integrated with the prescribed performance principle, is proposed in this paper. To enhance the convergence rate, a novel TSM-type reaching law has been developed. The controller ensures that the tracking error is not only stabilized within a finite-time convergence rate but also adheres to a predefined maximum transient-steady-state error. The proposed scheme is implemented through simulation and experimental results, demonstrating its superior performance. |
| Databáze: | Directory of Open Access Journals |
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