scholarly journals High-Accuracy Tracking Control of Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode

10.5772/45687 ◽  
2011 ◽  
Vol 8 (4) ◽  
pp. 33 ◽  
Author(s):  
Maolin Jin ◽  
Yi Jin ◽  
Pyung Hun Chang ◽  
Chintae Choi
Keyword(s):  
Time Delay ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
High Accuracy ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Terminal Sliding Mode

scholarly journals Task Space Trajectory Tracking Control of Robot Manipulators with Uncertain Kinematics and Dynamics

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
Xichang Liang ◽  
Yi Wan ◽  
Chengrui Zhang
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Kinematics And Dynamics ◽  
Task Space ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

To improve the tracking precision of robot manipulators’ end-effector with uncertain kinematics and dynamics in the task space, a new control method is proposed. The controller is based on time delay estimation and combines with the nonsingular terminal sliding mode (NTSM) and adaptive fuzzy logic control scheme. Kinematic parameters are not exactly required with the consideration of kinematic uncertainties in the controller. No dynamic models or numerous parameters of the robot manipulator system are required with the use of TDE. Thus, the controller is simple structure and suitable for practical applications. Furthermore, errors caused by time delay estimation are compensated by the adaptive fuzzy nonsingular terminal sliding mode scheme. The simulation is performed on a 2-DOF robot manipulator with three cases in the task space. The results show that the proposed controller provides faster convergence rate and higher tracking precision than TDE based NTSM and improved TDE based NTSM controller.

Joint space tracking control of underwater vehicle-manipulator systems using continuous nonsingular fast terminal sliding mode

2017 ◽  
Vol 232 (4) ◽  
pp. 448-458 ◽  
Author(s):  
Yaoyao Wang ◽  
Bai Chen ◽  
Hongtao Wu
Keyword(s):  
Time Delay ◽  
Tracking Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Control Performance ◽  
Terminal Sliding Mode ◽  
Model Free ◽  
Fast Terminal Sliding Mode

To ensure satisfactory control performance for the underwater vehicle-manipulator systems, a novel continuous nonsingular fast terminal sliding mode controller is proposed and investigated using time delay estimation in this article. Complex lumped unknown dynamics including the strong nonlinear couplings and external disturbance are properly compensated with time delay estimation, which are mainly based on the time-delayed signals of underwater vehicle-manipulator systems and can provide with a fascinating model-free feature. Afterwards, the satisfactory tracking control performance and good robustness under heavy lumped uncertainties are ensured using the continuous nonsingular fast terminal sliding mode term with a fast terminal sliding mode–type reaching law. Therefore, the proposed controller is easy to use thanks to time delay estimation, and can ensure good control performance owing to continuous nonsingular fast terminal sliding mode. Stability of the closed-loop control system is analyzed using Lyapunov stability theory, and theoretical tracking errors are calculated and presented. Finally, the effectiveness and advantages of the proposed controller are demonstrated through comparative 7-degree-of-freedom pool experiments.

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