scholarly journals Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator

2019 ◽  
Vol 9 (9) ◽  
pp. 1756 ◽  
Author(s):  
Doan ◽  
Le ◽  
Vo
Keyword(s):  
Sliding Mode Control ◽  
High Performance ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Continuous Control ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Uncertain Dynamics ◽  
The Stability

The control of a parallel robotic manipulator with uncertain dynamics is a noteworthy challenge due to the complicated dynamic model; multi-closed-loop chains; and singularities. This study develops a Synchronization Full-Order Terminal Sliding Mode Control (S-FOTSMC) for a 3-DOF planar parallel robotic manipulator with uncertain dynamics. First, to achieve faster convergence of position error and synchronization error variables with minimum values at the same time, a Synchronization Full-Order Terminal Sliding Mode Surface (S-FOTSMS) is constructed in the cross-coupling error’s state space. Next; an integral of the switching control term is applied; that means, a continuous control term is extended for rejecting the effects of chattering. Finally, an SFOTSMC is designed to guarantee that sliding mode motion will occur. Consequently, the stability and the robustness of the proposed method are secured with high-performance irrespective of the influences of uncertain terms in the robot system. The simulation performances show the effectiveness of our proposed system for position tracking control of a 3-DOF planar parallel robotic manipulator.

Neural Network Sliding Mode Control of 5DOFs Robotic Manipulator

2014 ◽  
Vol 898 ◽  
pp. 514-520 ◽  
Author(s):  
Chang Kai Xu ◽  
Ming Li ◽  
Jian Yin
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Learning Algorithm ◽  
Rbf Neural Network ◽  
Dynamic Performance ◽  
Robotic Manipulator ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
The Stability

In this paper, a neural network sliding mode controller for a kind of 5DOFs robotic manipulator is proposed. A radial basis function (RBF) neural network is used as an estimator to approximate uncertainties of the system. The learning algorithm of the neural network improves the performance of the system. A globle terminal sliding mode control (GTSMC) is designed to guarantee the stability and improve the dynamic performance of the robotic manipulator. Simulation results show that the proposed NNSMC strategy is effective to ensure the robustness and dynamic performance of the 5DOFs robotic manipulator.

scholarly journals Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Yang Wang ◽  
Mingshu Chen ◽  
Yu Song
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Design Method ◽  
Robotic Manipulator ◽  
Convergence Time ◽  
Terminal Sliding Mode Control ◽  
Tracking Errors ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Control Scheme

This paper concentrates on the predefined-time trajectory tracking for an uncertain robotic manipulator system. First, a modified predefined-time control (PTC) algorithm is proposed. Subsequently, with the help of proposed modified PTC algorithm and the nonsingular design method of terminal sliding mode, a novel nonsingular terminal sliding-mode control (NTSMC) scheme is proposed for ensuring the predefined-time convergence of tracking errors. The advantages of the newly proposed control scheme are as follows. (i) Unlike the conventional predefined-time sliding-mode control (SMC) which only guarantees the predefined-time convergence of sliding-mode surface, the proposed scheme can guarantee the predefined-time convergence of tracking errors. (ii) Compared with the conventional PTC algorithm, the proposed modified PTC algorithm can reduce the initial control peaking and enhance the precision of convergence time. The performance and effectiveness of the proposed control scheme are illustrated by comparing with the existing methods.

scholarly journals Fault-Tolerant Control for N-Link Robot Manipulator via Adaptive Nonsingular Terminal Sliding Mode Control Technology

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Nannan Shi ◽  
Fanghui Luo ◽  
Zhikuan Kang ◽  
Lihui Wang ◽  
Zhuo Zhao ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
The Stability

An adaptive nonsingular terminal sliding mode control (ANTSMC) scheme for the n-link robot manipulator is presented in this study, which can achieve faster convergence and higher precision tracking compared with the linear hyperplane-based sliding mode control. Novel adaptive updating laws based on the actual tracking error are employed to online adjust the upper bound of uncertainty, which comprehensively consider both the tracking performance and chattering eliminating problem. The stability analysis of the proposed ANTSMC is verified using the Lyapunov method with the existence of the parameter uncertainty and the actuator faults. Numerical simulation studies the comparison of performance between ANTSMC and the conventional nonsingular terminal sliding mode control (NTSMC) scheme to validate the advantages of the proposed control algorithm.

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