Finite-time sliding mode joint positioning error constraint control for robot manipulator in the presence of unknown deadzone

This paper proposes two tracking error constraint finite-time sliding mode control schemes for unknown manipulator parameters with deadzone input nonlinearity. A transformed filtered tracking error surface was first constructed as a separated form to guarantee the predefined tracking performance. Ne...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2018, 32(2), , pp.875-884
Main Authors: Oh, Yeon Taek, Han, Seong Ik
Format: Article
Language:English
Subjects:
Compensators
Computer simulation
Control
Control theory
Dynamical Systems
Engineering
Errors
Feedforward control
Index funds
Industrial and Production Engineering
Manipulators
Mechanical Engineering
Nonlinearity
Robot arms
Robot control
Robust control
Sliding mode control
Tracking control
Tracking errors
Vibration
기계공학
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Summary:This paper proposes two tracking error constraint finite-time sliding mode control schemes for unknown manipulator parameters with deadzone input nonlinearity. A transformed filtered tracking error surface was first constructed as a separated form to guarantee the predefined tracking performance. Next, a simple transformed prescribed error surface was considered to obtain the same predefined tracking performance. Both proposed controls adopt Finite-time sliding mode control (FSMC) with a non-model-based manipulator feedforward method to achieve rapid error convergence and fast control design. Unlike conventional controls with deazone compensation, the proposed controls are robust to deadzone nonlinearity without adding extra compensators. The effectiveness of the proposed scheme was proven by simulation and experimental evaluations for an articulated manipulator system with unknown deadzone and friction.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-018-0138-9