Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control

This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE). The proposed control assures fast convergence due to the nonlinear TSM, and requires no prior knowledge about the robot dynamics due to the TDE. D...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2009-09, Vol.56 (9), p.3593-3601
Main Authors: Maolin Jin, Maolin Jin, Jinoh Lee, Jinoh Lee, Pyung Hun Chang, Pyung Hun Chang, Chintae Choi, Chintae Choi
Format: Article
Language:English
Subjects:
Control systems
Convergence
Fuzzy control
Manipulator dynamics
Manipulators
Model-free control
Nonlinear control systems
Nonlinear systems
nonsingular terminal sliding mode (NTSM)
Robot arms
Robot control
Robots
Robust control
Robustness
Sliding mode control
terminal sliding mode (TSM)
Terminals
time-delay estimation (TDE)
Tracking control
Uncertainty
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Summary:This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE). The proposed control assures fast convergence due to the nonlinear TSM, and requires no prior knowledge about the robot dynamics due to the TDE. Despite its model-free nature, the proposed control provides high-accuracy control and robustness against parameters variations. The simplicity, robustness, and fast convergence of the proposed control are verified through both 2-DOF planar robot simulations and 3-DOF PUMA-type robot experiments.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2009.2024097