Trajectory Tracking Control Using Fractional-Order Terminal Sliding Mode Control With Sliding Perturbation Observer for a 7-DOF Robot Manipulator

A novel control scheme utilizing fractional-order terminal sliding mode control with sliding perturbation observer (FOTSMCSPO) is proposed herein. It was used to solve the trajectory tracking problem on a seven-degree-of-freedom robot manipulator. The fractional-order terminal sliding mode in FOTSMC...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2020-08, Vol.25 (4), p.1886-1893
Main Authors: Jie, Wang, Yudong, Zhou, Yulong, Bao, Kim, Hyun Hee, Lee, Min Cheol
Format: Article
Language:English
Subjects:
Convergence
Degrees of freedom
Environment models
Fractional calculus
Liapunov functions
Manipulators
Perturbation methods
Robot arms
Robot control
robot manipulator
Robots
Service robots
Sliding mode control
Stability analysis
Surface stability
Tracking control
Tracking problem
Trajectory control
trajectory tracking
Uncertainty
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Summary:A novel control scheme utilizing fractional-order terminal sliding mode control with sliding perturbation observer (FOTSMCSPO) is proposed herein. It was used to solve the trajectory tracking problem on a seven-degree-of-freedom robot manipulator. The fractional-order terminal sliding mode in FOTSMCSPO provides a finite convergence time for reaching the sliding surface. In this article, a sliding perturbation observer (SPO) is used to estimate the disturbance from the environment and modeling uncertainties. The new control scheme exhibits high precision, fast convergence, and robust performance against the lumped uncertainties. These advantages are ensured through the newly designed fractional-order terminal sliding surface and the SPO. The stability is analyzed based on the Lyapunov functions for general and fractional-order systems. An implementation on a real robot manipulator demonstrated the effects and performance of the new control method.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2020.2992676