A Backstepping Global Fast Terminal Sliding Mode Control for Trajectory Tracking Control of Industrial Robotic Manipulators

We propose a backstepping global fast terminal sliding mode control for trajectory tracking control of industrial robotic manipulators in this article. An integral of the global fast terminal sliding mode surface is firstly suggested to improve the dynamic performance and fast convergence of Sliding...

Full description

Saved in:
Bibliographic Details
Published in:IEEE access 2021, Vol.9, p.31921-31931
Main Authors: Truong, Thanh Nguyen, Vo, Anh Tuan, Kang, Hee-Jun
Format: Article
Language:English
Subjects:
Backstepping
Backstepping control
Convergence
global fast terminal sliding mode control
high-order sliding mode control
robotic manipulators
Robots
Sliding mode control
Torque
Transient response
Uncertainty
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We propose a backstepping global fast terminal sliding mode control for trajectory tracking control of industrial robotic manipulators in this article. An integral of the global fast terminal sliding mode surface is firstly suggested to improve the dynamic performance and fast convergence of Sliding Mode Control (SMC) and Terminal SMC (TSMC), which also obtains a finite-time convergence. A controller is then developed from the proposed sliding surface using the backstepping control method and High-Order SMC (HOSMC) to ensure the global stability of the control system. Thanks to this proposed method, the controller provides small position and velocity control errors with less oscillation, smooth control torque, and convergence of the control errors in the short time. The stability and convergence also are guaranteed with Lyapunov theory. Finally, computer simulation verifies the effectiveness of the designed controller.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2021.3060115