Model‐free prescribed performance fast nonsingular terminal sliding mode control with practical finite‐time stability of uncertain robot manipulators

This paper addresses the problem of robust and high precision trajectory tracking control of uncertain robot manipulators with prescribed performance. Time delay estimation (TDE) technique is employed to estimate system model, then a new self‐adjusting strategy (SAS) is designed to adjust TDE gain o...

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Bibliographic Details
Published in:Asian journal of control 2023-09, Vol.25 (5), p.3886-3902
Main Authors: Song, Tangzhong, Fang, Lijin, Wang, Huaizhen, Zhang, Yue, Qian, Yian
Format: Article
Language:English
Subjects:
Convergence
Dynamic stability
Dynamical systems
Manipulators
Model‐free control
Nonsingular terminal sliding surface
Practical finite‐time control
Prescribed performance control
Robot arms
Robot control
Robots
Robustness
Sliding mode control
Time lag
Tracking control
Tracking errors
Trajectory control
Transient response
Uncertain robot manipulators
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Summary:This paper addresses the problem of robust and high precision trajectory tracking control of uncertain robot manipulators with prescribed performance. Time delay estimation (TDE) technique is employed to estimate system model, then a new self‐adjusting strategy (SAS) is designed to adjust TDE gain online. Prescribed performance control (PPC) method is used to guarantee transient response speed and steady‐state accuracy. Moreover, the transform function of PPC employed in this paper has unlimited domain, which greatly improves the robustness and stability of system. An improved fixed‐time dynamical system is firstly deduced and analyzed, then a new fast nonsingular terminal sliding mode surface is designed to accelerate convergence rate of tracking errors. Finally, the whole system is strictly proven to be practical finite‐time stable, which means that tracking errors can converge to a small neighborhood of zero within a uniformly bounded convergence time. Main advantages of the proposed approach include model‐free, robust, singularity‐free, faster transient response and higher steady‐state tracking precision. Experimental results carried out on the Rethink Sawyer Robot also verified the effectiveness of the proposed scheme.
ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.3071