Adaptive fast fixed-time sliding mode control for uncertain robotic manipulators

Xin  Zhang; Shaojun  Qing

doi:10.6180/jase.202411_27(11).0005

Adaptive fast fixed-time sliding mode control for uncertain robotic manipulators

Electro-Mechanical Engineering

Xin ZhangThis email address is being protected from spambots. You need JavaScript enabled to view it. and Shaojun Qing

School of Automation and Electrical Engineering of Lanzhou Jiaotong University, Lanzhou, 730070, China

Received: October 14, 2023
Accepted: December 10, 2023
Publication Date: January 27, 2024

Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

Download Citation: ||https://doi.org/10.6180/jase.202411_27(11).0005

In this paper, a novel adaptive terminal sliding mode (TSM) control method is suggested for the operation and adjustment of uncertain robots under the influence of internal parameter errors and external perturbations. Firstly, a novel TSM surface was designed with the aim of achieving continuous and smooth output torque while ensuring rapid convergence of tracking error. Secondly, the TSM is combined with adaptive control, and an adaptive mechanism is utilized to determine these unknown upper bounds, in order to implement accurate trajectory control in the existence of unknown lumped disturbance. The Lyapunov stability theory is utilized to prove global fixed-time stability, ensuring that the state of the system converges to the origin in fixed time. Importantly, the proposed scheme offers the advantage of continuous and transient-free control torque, eliminating undesired vibrations and ensuring smoother control torques that are well-suited for practical applications. Finally, the simulation experiments unequivocally establish the efficacy and superiority of the controller that was devised.

Keywords: Robot manipulator; Sliding mode control; Adaptive control; Trajectory tracking; Fixed time convergence

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