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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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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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container_title	IEEE transactions on industrial electronics (1982)
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creator	Cong, Yongzheng Du, Haibo Zhu, Wenwu Chen, Chih-Chiang
description	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.
doi_str_mv	10.1109/TIE.2023.3310016
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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
title	Position Regulation of Industrial Robots via Bounded Integral Terminal Sliding Mode Control Algorithm
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