Position Regulation of Industrial Robots via Bounded Integral Terminal Sliding Mode Control Algorithm

For the position regulation problem of six degrees of freedom (6-DOF) industrial robots, a novel bounded finite-time position regulate algorithm is developed and employed to improve the dynamic performance of the industrial robots. First, based on the model feature, a bounded finite-time position re...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2024-07, Vol.71 (7), p.1-10
Main Authors: Cong, Yongzheng, Du, Haibo, Zhu, Wenwu, Chen, Chih-Chiang
Format: Article
Language:English
Subjects:
6-DOF
Algorithms
Asymptotic stability
Closed loops
Control theory
Degrees of freedom
Feedback control
Finite-time stability
Industrial robots
input saturation
integral terminal sliding mode
position regulation
Regulation
Robots
Service robots
Sliding mode control
Stability analysis
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Summary:For the position regulation problem of six degrees of freedom (6-DOF) industrial robots, a novel bounded finite-time position regulate algorithm is developed and employed to improve the dynamic performance of the industrial robots. First, based on the model feature, a bounded finite-time position regulate law is proposed to overcome input saturation constraints for the considered systems. Rigorous analysis guarantees the finite-time stability of the closed-loop system in the absence of disturbance. Then, to improve the disturbance rejection property of the robot systems in the presence of disturbance, an improved bounded finite-time control law based on the integral terminal sliding mode is constructed. Finally, simulations and experimental results are provided to show the effectiveness of the proposed bounded control law.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2023.3310016