Quantized Input Signal based Adaptive Terminal Sliding Mode Control for Robotic Manipulator

This paper presents the adaptive terminal sliding mode control (ATSMC) for robotic manipulators using input quantization in the presence of uncertainties and external disturbance. The concept of adaptive quantized control for robot manipulator systems is explored in this study, which involves the in...

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Bibliographic Details
Published in:IFAC-PapersOnLine 2024, Vol.57, p.208-213
Main Authors: Singh, Sonali, Sachan, Ankit, Soni, Sandeep Kumar, Goyal, Jitendra Kumar, Purwar, Shubhi
Format: Article
Language:English
Subjects:
Adaptive Quantized Control
Hysteretic Quantizer
Input Quantization
Terminal Sliding Mode Control
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Summary:This paper presents the adaptive terminal sliding mode control (ATSMC) for robotic manipulators using input quantization in the presence of uncertainties and external disturbance. The concept of adaptive quantized control for robot manipulator systems is explored in this study, which involves the introduction of a novel approach for creating input quantization with hysteretic quantizer. Initially, the approach involves suggesting adaptive terminal sliding mode, followed by the application of a hysteretic quantizer incorporating quantization error bounded within specific sectors for controlling the input signal. The proposed adaptive quantized control technique eliminates the chattering and provides convergence to origin in finite-time. The proposed control algorithm's effectiveness is shown through simulation results, illustrating its successful application in controlling a two-link robotic manipulator.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2024.05.036