Fixed-Time Global Sliding Mode Control for Parallel Robot Mobile Platform with Prescribed Performance
A fixed-time global sliding mode control with prescribed performance is proposed for the varying center of mass parallel robot mobile platform with model uncertainties and external disturbances to improve the global robustness and convergence performance of the model, and reduce overshoots. Firstly,...
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MDPI AG
2025-03-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/5/1584 |
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| author | Aojie Wang Guoqin Gao Xue Li |
| author_facet | Aojie Wang Guoqin Gao Xue Li |
| author_sort | Aojie Wang |
| collection | DOAJ |
| description | A fixed-time global sliding mode control with prescribed performance is proposed for the varying center of mass parallel robot mobile platform with model uncertainties and external disturbances to improve the global robustness and convergence performance of the model, and reduce overshoots. Firstly, kinematic and dynamic models of the parallel robot mobile platform with a varying center of mass are established. A reference velocity controller for the mobile platform system’s outer loop is designed using the back-stepping method, which provides the expected reference velocity for the inner loop controller. Secondly, to improve the global robustness and convergence performance of the system, a fixed-time global sliding mode control algorithm in the inner loop of the system is designed to eliminate the reaching phase of sliding mode control and ensure that the system converges quickly within a fixed time. Meanwhile, by designing a performance function to constrain the system errors within the performance boundary further, the fixed-time global sliding mode control with prescribed performance is implemented to reduce overshoots of the system. Then, the Lyapunov stability of the proposed method is proved theoretically. Finally, the effectiveness and superiority of the proposed control method are verified by simulation experiments. |
| format | Article |
| id | doaj-art-3e05841d887a42ca852eb9512b37acae |
| institution | OA Journals |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-3e05841d887a42ca852eb9512b37acae2025-08-20T02:06:15ZengMDPI AGSensors1424-82202025-03-01255158410.3390/s25051584Fixed-Time Global Sliding Mode Control for Parallel Robot Mobile Platform with Prescribed PerformanceAojie Wang0Guoqin Gao1Xue Li2School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaA fixed-time global sliding mode control with prescribed performance is proposed for the varying center of mass parallel robot mobile platform with model uncertainties and external disturbances to improve the global robustness and convergence performance of the model, and reduce overshoots. Firstly, kinematic and dynamic models of the parallel robot mobile platform with a varying center of mass are established. A reference velocity controller for the mobile platform system’s outer loop is designed using the back-stepping method, which provides the expected reference velocity for the inner loop controller. Secondly, to improve the global robustness and convergence performance of the system, a fixed-time global sliding mode control algorithm in the inner loop of the system is designed to eliminate the reaching phase of sliding mode control and ensure that the system converges quickly within a fixed time. Meanwhile, by designing a performance function to constrain the system errors within the performance boundary further, the fixed-time global sliding mode control with prescribed performance is implemented to reduce overshoots of the system. Then, the Lyapunov stability of the proposed method is proved theoretically. Finally, the effectiveness and superiority of the proposed control method are verified by simulation experiments.https://www.mdpi.com/1424-8220/25/5/1584trajectory trackingglobal sliding modefixed time controlprescribed performance control |
| spellingShingle | Aojie Wang Guoqin Gao Xue Li Fixed-Time Global Sliding Mode Control for Parallel Robot Mobile Platform with Prescribed Performance Sensors trajectory tracking global sliding mode fixed time control prescribed performance control |
| title | Fixed-Time Global Sliding Mode Control for Parallel Robot Mobile Platform with Prescribed Performance |
| title_full | Fixed-Time Global Sliding Mode Control for Parallel Robot Mobile Platform with Prescribed Performance |
| title_fullStr | Fixed-Time Global Sliding Mode Control for Parallel Robot Mobile Platform with Prescribed Performance |
| title_full_unstemmed | Fixed-Time Global Sliding Mode Control for Parallel Robot Mobile Platform with Prescribed Performance |
| title_short | Fixed-Time Global Sliding Mode Control for Parallel Robot Mobile Platform with Prescribed Performance |
| title_sort | fixed time global sliding mode control for parallel robot mobile platform with prescribed performance |
| topic | trajectory tracking global sliding mode fixed time control prescribed performance control |
| url | https://www.mdpi.com/1424-8220/25/5/1584 |
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