Novel sliding mode control of the manipulator based on a nonlinear disturbance observer
Abstract To achieve high-performance trajectory tracking for a manipulator, this study proposes a novel sliding mode control strategy incorporating a nonlinear disturbance observer. The observer is designed to estimate unknown models in real-time, enabling feedforward compensation for various uncert...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2024-12-01
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| Series: | Scientific Reports |
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| Online Access: | https://doi.org/10.1038/s41598-024-77125-y |
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| author | Keyou Guo Haoze Zhang Caili Wei Haibing Jiang Jiangnan Wang |
| author_facet | Keyou Guo Haoze Zhang Caili Wei Haibing Jiang Jiangnan Wang |
| author_sort | Keyou Guo |
| collection | DOAJ |
| description | Abstract To achieve high-performance trajectory tracking for a manipulator, this study proposes a novel sliding mode control strategy incorporating a nonlinear disturbance observer. The observer is designed to estimate unknown models in real-time, enabling feedforward compensation for various uncertainties such as modeling errors, joint friction, and external torque disturbances. The control law is formulated by integrating the Backstepping method, Lyapunov theory, and global fast terminal sliding mode theory, ensuring global convergence to zero within finite time and enhancing system robustness. To address the inherent chattering issue in sliding mode control, a hybrid reaching law is developed by combining the exponential and power reaching laws. Additionally, the improved-fal (Imp-fal) function replaces the sign function in the switching control law, improving system response speed, preventing overshoot, and optimizing gain beyond the threshold value. Through simulation and comparative experiments conducted using MATLAB/Simulink, the controller model exhibited a 16.4% average reduction in the mean square value of tracking errors compared to existing control strategies, with improvements observed in various performance indicators. When applied to a self-developed three-degree-of-freedom manipulator experimental platform, the controller demonstrated a roughly 55% increase in tracking accuracy and a decrease in response time by approximately 45% compared to existing strategies. The experimental results validate the effectiveness, superiority, and practicality of the control strategy, providing a feasible solution for high-performance trajectory tracking in robotic arm systems. |
| format | Article |
| id | doaj-art-3fbd9cb50755483fbecaf4aafeb7d4b6 |
| institution | DOAJ |
| issn | 2045-2322 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-3fbd9cb50755483fbecaf4aafeb7d4b62025-08-20T02:39:34ZengNature PortfolioScientific Reports2045-23222024-12-0114111810.1038/s41598-024-77125-yNovel sliding mode control of the manipulator based on a nonlinear disturbance observerKeyou Guo0Haoze Zhang1Caili Wei2Haibing Jiang3Jiangnan Wang4School of Computer and Artificial Intelligence, Beijing Technology and Business UniversitySchool of Computer and Artificial Intelligence, Beijing Technology and Business UniversitySchool of Computer and Artificial Intelligence, Beijing Technology and Business UniversitySchool of Computer and Artificial Intelligence, Beijing Technology and Business UniversitySchool of Computer and Artificial Intelligence, Beijing Technology and Business UniversityAbstract To achieve high-performance trajectory tracking for a manipulator, this study proposes a novel sliding mode control strategy incorporating a nonlinear disturbance observer. The observer is designed to estimate unknown models in real-time, enabling feedforward compensation for various uncertainties such as modeling errors, joint friction, and external torque disturbances. The control law is formulated by integrating the Backstepping method, Lyapunov theory, and global fast terminal sliding mode theory, ensuring global convergence to zero within finite time and enhancing system robustness. To address the inherent chattering issue in sliding mode control, a hybrid reaching law is developed by combining the exponential and power reaching laws. Additionally, the improved-fal (Imp-fal) function replaces the sign function in the switching control law, improving system response speed, preventing overshoot, and optimizing gain beyond the threshold value. Through simulation and comparative experiments conducted using MATLAB/Simulink, the controller model exhibited a 16.4% average reduction in the mean square value of tracking errors compared to existing control strategies, with improvements observed in various performance indicators. When applied to a self-developed three-degree-of-freedom manipulator experimental platform, the controller demonstrated a roughly 55% increase in tracking accuracy and a decrease in response time by approximately 45% compared to existing strategies. The experimental results validate the effectiveness, superiority, and practicality of the control strategy, providing a feasible solution for high-performance trajectory tracking in robotic arm systems.https://doi.org/10.1038/s41598-024-77125-yRobotic manipulatorTrajectory trackingNonlinear disturbance observerBackstepping global fast terminal sliding mode controlChatter vibration suppression |
| spellingShingle | Keyou Guo Haoze Zhang Caili Wei Haibing Jiang Jiangnan Wang Novel sliding mode control of the manipulator based on a nonlinear disturbance observer Scientific Reports Robotic manipulator Trajectory tracking Nonlinear disturbance observer Backstepping global fast terminal sliding mode control Chatter vibration suppression |
| title | Novel sliding mode control of the manipulator based on a nonlinear disturbance observer |
| title_full | Novel sliding mode control of the manipulator based on a nonlinear disturbance observer |
| title_fullStr | Novel sliding mode control of the manipulator based on a nonlinear disturbance observer |
| title_full_unstemmed | Novel sliding mode control of the manipulator based on a nonlinear disturbance observer |
| title_short | Novel sliding mode control of the manipulator based on a nonlinear disturbance observer |
| title_sort | novel sliding mode control of the manipulator based on a nonlinear disturbance observer |
| topic | Robotic manipulator Trajectory tracking Nonlinear disturbance observer Backstepping global fast terminal sliding mode control Chatter vibration suppression |
| url | https://doi.org/10.1038/s41598-024-77125-y |
| work_keys_str_mv | AT keyouguo novelslidingmodecontrolofthemanipulatorbasedonanonlineardisturbanceobserver AT haozezhang novelslidingmodecontrolofthemanipulatorbasedonanonlineardisturbanceobserver AT cailiwei novelslidingmodecontrolofthemanipulatorbasedonanonlineardisturbanceobserver AT haibingjiang novelslidingmodecontrolofthemanipulatorbasedonanonlineardisturbanceobserver AT jiangnanwang novelslidingmodecontrolofthemanipulatorbasedonanonlineardisturbanceobserver |