A novel hybrid observer‐based model‐free adaptive high‐order terminal sliding mode control for robot manipulators with prescribed performance

Although widely used in industrial applications, strong nonlinearity and coupling, high computational complexity prevent high precision tracking control of manipulator. In this paper, to overcome the rely on system model and achieve prescribed convergence, a novel hybrid observer‐based model‐free ad...

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Bibliographic Details
Published in:International journal of robust and nonlinear control 2024-11, Vol.34 (17), p.11655-11680
Main Authors: Zha, Minxuan, Wang, Haoping, Tian, Yang, He, Dingxin, Wei, Yangchun
Format: Article
Language:English
Subjects:
Adaptive control
adaptive time‐delay estimation
Algorithms
Complex systems
Complexity
Control algorithms
Control stability
Control theory
Free form
high‐order sliding mode control
Industrial applications
Manipulators
model‐free control
prescribed performance
Robot arms
Robot control
robot manipulators
Robust control
second order sliding mode observer
Sliding mode control
Stability analysis
Tracking control
Windows (intervals)
Citations: Items that this one cites
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Summary:Although widely used in industrial applications, strong nonlinearity and coupling, high computational complexity prevent high precision tracking control of manipulator. In this paper, to overcome the rely on system model and achieve prescribed convergence, a novel hybrid observer‐based model‐free adaptive high‐order fast terminal sliding model control scheme (HO‐MHTSMC) with prescribed performance is proposed for trajectory tracking control of robot manipulators in the existence of friction and external disturbance. The ultra‐local model is used to approximate the original complex system in a model free form in a short sliding time window, which avoid the accurate modeling of the manipulator system. To compensate for the lumped uncertainties, a hybrid observer based on adaptive time‐delay estimation and adaptive second order sliding mode observer (SOSM) is proposed to achieve finite‐time observation and zero estimation error. Besides, a transformation using prescribed performance function is applied to the system to ensure the transient and steady‐state performance of the trajectory tracking in joint space. Furthermore, a high‐order fast terminal sliding mode control algorithm with backstepping control strategy is used to stabilize the whole system and reduce the chattering problem in conventional sliding mode control. The stability analysis of the system is provided by Lyapunov theorem. Finally, numerical study and co‐simulations show that the proposed control scheme has better performance in tracking accuracy and robustness compared with conventional control schemes.
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.7588