[go: up one dir, main page]
More Web Proxy on the site http://driver.im/ Skip to main content
Springer Nature Link
Log in

Robust Finite Time Tracking Control for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Mode

  • Regular Papers
  • Robot and Applications
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

In this paper, a novel disturbance observer-based robust nonsingular fast terminal sliding mode control (RNFTSMC) technique is proposed for tracking control of robotic manipulators with time-varying disturbances. First, an improved form of nonsingular fast terminal sliding manifold is developed to achieve the strong robustness and finite time convergence of the system, and to avoid the singularity problem. Second, a continuous robust reaching law is designed not only to attenuate chattering phenomena without deteriorating the system tracking precision, but also to guarantee the finite time stability of the system. Furthermore, a nonlinear disturbance observer (NDOB) is employed to estimate the system uncertainties and decrease the switching gain, so that the prior information about the perturbations is not required, and the control signal can be reduced with fewer chattering effect. The system stability is analyzed according to the Lyapunov stability theory. Finally, the superiority of the proposed control scheme is validated by comparative simulation studies.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
£29.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (United Kingdom)

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. S. Mobayen, F. Tchier, and L. Ragoub, “Design of an adaptive tracker for n-link rigid robotic manipulators based on super-twisting global nonlinear sliding mode control,” International Journal of Systems Science, vol. 48, no. 9, pp. 1990–2002, 2017.

    Article  MathSciNet  MATH  Google Scholar 

  2. Q. Cao, S. Li, and D. Zhao, “Adaptive motion/force control of constrained manipulators using a new fast terminal sliding mode,” International Journal of Computer Applications in Technology, vol. 49, no. 2, pp. 150–156, 2014.

    Article  Google Scholar 

  3. S. Purwar, I. N. Kar, and A. N. Jha, “Adaptive output feedback tracking control of robot manipulators using position measurements only,” Expert Systems with Applications, vol. 34, no. 4, pp. 2789–2798, 2008.

    Article  Google Scholar 

  4. K. Shojaei, A. M. Shahri, and A. Tarakameh, “Adaptive feedback linearizing control of nonholonomic wheeled mobile robots in presence of parametric and nonparametric uncertainties,” Robotics and Computer-Integrated Manufacturing, vol. 27, no. 3, pp. 194–204, 2011.

    Article  Google Scholar 

  5. P. Poignet and M. Gautier, “Nonlinear model predictive control of a robot manipulator,” Proc. of the 6th International Workshop on Advanced Motion Control, pp. 401–406, 2000.

  6. Y. Liu, F. Guo, X. He, and Q. Hui, “Boundary control for an axially moving system with input restriction based on disturbance observers,” IEEE Transactions on Systems, Man and Cybernetics: Systems, vol. 49, no. 11, pp. 2242–2253, 2019.

    Article  Google Scholar 

  7. Y. Liu, Y. Fu, W. He, and Q. Hui, “Modeling and observer-based vibration control of a flexible spacecraft with external disturbances,” IEEE Transactions on Industrial Electronics, vol. 66, no. 11, pp. 8648–8658, 2019.

    Article  Google Scholar 

  8. Y. Liu, X. Chen, Y. Wu, H. Cai, and H. Yokoi, “Adaptive neural network control of a flexible spacecraft subject to input nonlinearity and asymmetric output constraint,” IEEE Transactions on Neural Networks and Learning Systems, pp. 1–9, 2021. DOI: https://doi.org/10.1109/TNNLS.2021.3072907

  9. A. Benamor and H. Messaoud, “Robust adaptive sliding mode control for uncertain systems with unknown time-varying delay input,” ISA Transactions, vol. 79, pp. 1–12, 2018.

    Article  Google Scholar 

  10. M. Chen, Q. X. Wu, and R. X. Cui, “Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems,” ISA Transactions, vol. 52, no. 2, pp. 198–206, 2013.

    Article  Google Scholar 

  11. M. L. Jin, S. H. Kang, P. H. Chang, and J. Lee, “Robust control of robot manipulators using inclusive and enhanced time delay control,” IEEE/ASME Transactions on Mechatronics, vol. 22, no. 5, pp. 2141–2152, 2017.

    Article  Google Scholar 

  12. X. Feng and C. Wang, “Robust adaptive terminal sliding mode control of an omnidirectional mobile robot for aircraft skin inspection,” International Journal of Control, Automation, and Systems, vol. 19, no. 2, pp. 1078–1088, 2021.

    Article  Google Scholar 

  13. S. Mobayen, “Fast terminal sliding mode controller design for nonlinear second-order systems with time-varying uncertainties,” Complexity, vol. 21, no. 2, pp. 239–244, 2015.

    Article  MathSciNet  Google Scholar 

  14. Q. V. Doan, A. T. Vo, T. D. Le, H. J. Kang, and N. H. A. Nguyen, “A novel fast terminal sliding mode tracking control methodology for robot manipulators,” Applied Sciences, vol. 10, no. 9, p. 3010, 2020.

    Article  Google Scholar 

  15. K. Eliker and W. Zhang, “Finite-time adaptive integral backstepping fast terminal sliding mode control application on quadrotor UAV,” International Journal of Control, Automation, and Systems, vol. 18, no. 2, pp. 415–430, 2020.

    Article  Google Scholar 

  16. M. Van, M. Mavrovouniotis, and S. S. Ge, “An adaptive backstepping nonsingular fast terminal sliding mode control for robust fault tolerant control of robot manipulators,” IEEE Transactions on Systems, Man and Cybernetics: Systems, vol. 49, no. 7, pp. 1448–1458, 2019.

    Article  Google Scholar 

  17. A. T. Vo and H. J. Kang, “A novel fault-tolerant control method for robot manipulators based on non-singular fast terminal sliding mode control and disturbance observer,” IEEE Access, vol. 8, pp. 109388–109400, 2020.

    Article  Google Scholar 

  18. M. L. Jin, J. Lee, and K. K. Ahn, “Continuous nonsingular terminal sliding-mode control of shape memory alloy actuators using time delay estimation,” IEEE/ASME Transactions on Mechatronics, vol. 20, no. 2, pp. 899–909, 2015.

    Article  Google Scholar 

  19. C. Pukdeboon and P. Siricharuanun, “Nonsingular terminal sliding mode based finite-time control for spacecraft attitude tracking,” International Journal of Control, Automation, and Systems, vol. 12, no. 3, pp. 530–540, 2014.

    Article  Google Scholar 

  20. S. Li, M. Zhou, and X. Yu, “Design and implementation of terminal sliding mode control method for PMSM speed regulation system,” IEEE Transactions on Industrial Informatics, vol. 9, no. 4, pp. 1879–1891, 2013.

    Article  Google Scholar 

  21. G. Zhao, G. Chen, J. Chen, and C. Hua, “Finite-time control for image-based visual servoing of a quadrotor using nonsingular fast terminal sliding mode,” International Journal of Control, Automation, and Systems, vol. 18, no. 9, pp. 2337–2348, 2020.

    Article  Google Scholar 

  22. Y. Wang, K. Zhu, B. Chen, and M. Jin, “Model-free continuous nonsingular fast terminal sliding mode control for cable-driven manipulators,” ISA Transactions, vol. 98, pp. 483–495, 2020.

    Article  Google Scholar 

  23. S. Yi and J. Zhai, “Adaptive second-order fast nonsingular terminal sliding mode control for robotic manipulators,” ISA Transactions, vol. 90, pp. 41–51, 2019.

    Article  Google Scholar 

  24. V. C. Nguyen, A. T. Vo, and H. J. Kang, “A non-singular fast terminal sliding mode control based on third-order sliding mode observer for a class of second-order uncertain nonlinear systems and its application to robot manipulators,” IEEE Access, vol. 8, pp. 78109–78120, 2020.

    Article  Google Scholar 

  25. S. Yu, X. Yu, B. Shirinzadeh, and Z. Man, “Continuous finite-time control for robotic manipulators with terminal sliding mode,” Automatica, vol. 41, no. 11, pp. 1957–1964, 2005.

    Article  MathSciNet  MATH  Google Scholar 

  26. V. C. Nguyen, A. T. Vo, and H. J. Kang, “A finite-time fault-tolerant control using non-singular fast terminal sliding mode control and third-order sliding mode observer for robotic manipulators,” IEEE Access, vol. 9, pp. 31225–31235, 2021.

    Article  Google Scholar 

  27. L. Yang and J. Yang, “Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems,” International Journal of Robust and Nonlinear Control, vol. 21, no. 16, pp. 1865–1879, 2011.

    Article  MathSciNet  MATH  Google Scholar 

  28. M. Boukattaya, N. Mezghani, and T. Damak, “Adaptive nonsingular fast terminal sliding-mode control for the tracking problem of uncertain dynamical systems,” ISA Transactions, vol. 77, pp. 1–19, 2018.

    Article  MATH  Google Scholar 

  29. J. Lee, M. L. Jin, N. Kashiri, D. G. Caldwell, and N. G. Tsagarakis, “Inversion-free force tracking control of piezoelectric actuators using fast finite-time integral terminal sliding-mode,” Mechatronics, vol. 57, pp. 39–50, 2019.

    Article  Google Scholar 

  30. S. Mobayen, H. Karami, and A. Fekih, “Adaptive nonsingular integral-type second order terminal sliding mode tracking controller for uncertain nonlinear systems,” International Journal of Control, Automation, and Systems, vol. 19, no. 4, pp. 1539–1549, 2021.

    Article  Google Scholar 

  31. W. Liu, S. Chen, and H. Huang, “Double closed-loop integral terminal sliding mode for a class of under actuated systems based on sliding mode observer,” International Journal of Control, Automation, and Systems, vol. 18, no. 2, pp. 339–350, 2020.

    Article  Google Scholar 

  32. F. Cupertino, D. Naso, E. Mininno, and B. Turchiano, “Sliding-mode control with double boundary layer for robust compensation of payload mass and friction in linear motors,” IEEE Transactions on Industry Applications, vol. 45, no. 5, pp. 1688–1696, 2009.

    Article  Google Scholar 

  33. C. Xiu and P. Guo, “Global terminal sliding mode control with the quick reaching law and its application,” IEEE Access, vol. 6, pp. 49793–49800, 2018.

    Article  Google Scholar 

  34. Y. Liu, Z. Wang, L. Xiong, J. Wang, X. Jiang, G. Bai, R. Li, and S. Liu, “DFIG wind turbine sliding mode control with exponential reaching law under variable wind speed,” Electrical Power and Energy Systems, vol. 96, pp. 253–260, 2018.

    Article  Google Scholar 

  35. S. M. Mozayan, M. Saad, H. Vahedi, H. Firtin-Blanchette, and M. Soltani, “Sliding mode control of PMSG wind turbine based on enhanced exponential reaching law,” IEEE Transactions on Industrial Electronics, vol. 63, no. 10, pp. 6148–6159, 2016.

    Article  Google Scholar 

  36. L. Li, L. Sun, and S. Zhang, “Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control,” ISA Transactions, vol. 62, pp. 222–235, 2016.

    Article  Google Scholar 

  37. S. Mobayen and F. Tchier, “A novel adaptive second-order sliding mode tracking control technique for uncertain Dynamical systems with matched and unmatched disturbances,” International Journal of Control, Automation, and Systems, vol. 15, no. 3, pp. 1097–1106, 2017.

    Article  Google Scholar 

  38. S. Mobayen, D. Baleanu, and F. Tchier, “Second-order fast terminal sliding mode control design based on LMI for a class of non-linear uncertain systems and its application to chaotic systems,” Journal of Vibration and Control, vol. 23, no. 18, pp. 2912–2925, 2017.

    Article  MathSciNet  MATH  Google Scholar 

  39. S. Mondal and C. Mahanta, “Adaptive second order terminal sliding mode controller for robotic manipulators,” Journal of The Franklin Institute, vol. 351, no. 4, pp. 2356–2377, 2014.

    Article  MathSciNet  MATH  Google Scholar 

  40. J. Yang, S. Li, and X. Yu, “Sliding-mode control for systems with mismatched uncertainties via a disturbance observer,” IEEE Transactions on Industrial Electronics, vol. 60, no. 1, pp. 160–169, 2013.

    Article  Google Scholar 

  41. X. Shao and H. Wang, “Sliding mode based trajectory linearization control for hypersonic reentry vehicle via extended disturbance observer,” ISA Transactions, vol. 53, no. 6, pp. 1771–1786, 2014.

    Article  Google Scholar 

  42. Y. Deng, J. Wang, H. Li, J. Liu, and D. Tian, “Adaptive sliding mode current control with sliding mode disturbance observer for PMSM drives,” ISA Transactions, vol. 88, pp. 113–126, 2019.

    Article  Google Scholar 

  43. Y. Liu, Y. Mei, H. Cai, C. He, T. Liu, and G. Hu, “Asymmetric input-output constraint control of a flexible variable-length rotary crane arm,” IEEE Transactions on Cybernetics, pp. 1–10, 2021. DOI: https://doi.org/10.1109/TCYB.2021.3055151

  44. Y. Liu, X. Chen, Y. Mei, and Y. Wu, “Observer-based boundary control for an asymmetric output-constrained flexible robotic manipulator,” Science China Information Sciences, vol. 65, p. 139203, 2022.

    Article  MathSciNet  Google Scholar 

  45. A. Mohammadi, M. Tavakoli, H. J. Marquez, and F. Hashemzadeh, “Nonlinear disturbance observer design for robotic manipulators,” Control Engineering Practice, vol. 21, no. 3, pp. 253–267, 2013.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China

    Chenchen Sun

Authors
  1. Chenchen Sun
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Chenchen Sun.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This work is supported by the Key R&D Program of Zhejiang Province [No. 2020C01026].

Chenchen Sun received her Ph.D. degree in mechatronic engineering from Zhejiang University, Hangzhou, China, in 2020. She is currently working as a postdoctor at Hangzhou Innovation Institute, Beihang University, Hangzhou, China. Her current research interests include automation control, robot control systems, bilateral teleoperation robotic manipulators, and mechatronic systems design.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Sun, C. Robust Finite Time Tracking Control for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Mode. Int. J. Control Autom. Syst. 20, 3285–3295 (2022). https://doi.org/10.1007/s12555-021-0181-2

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-021-0181-2

Keywords

Search

Navigation