Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface
In order to make the manipulator track the desired trajectory in a finite time, a new control method based on fast nonsingular terminal sliding mode has been designed. This method combines the traditional fast terminal sliding mode with the nonsingular terminal sliding mode, has rapidity, nonsingula...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
|
| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/2271804 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849398436105814016 |
|---|---|
| author | Hanqing Sun Shijie Zhang Qingle Quan Zheng Liu Guizhi Wang Weimin Lian |
| author_facet | Hanqing Sun Shijie Zhang Qingle Quan Zheng Liu Guizhi Wang Weimin Lian |
| author_sort | Hanqing Sun |
| collection | DOAJ |
| description | In order to make the manipulator track the desired trajectory in a finite time, a new control method based on fast nonsingular terminal sliding mode has been designed. This method combines the traditional fast terminal sliding mode with the nonsingular terminal sliding mode, has rapidity, nonsingularity, finite-time convergence, and strong robustness, and can effectively suppress the inherent chattering phenomenon of the sliding mode controller. The nonsingular fast terminal sliding mode surface is used to accelerate the convergence speed of manipulator trajectory tracking error, and the singularity problem in terminal sliding mode is solved. The finite-time convergence of the algorithm is proved by the Lyapunov function. The simulation results demonstrate that the proposed method can achieve accurate finite-time trajectory tracking characteristics and has robustness against external disturbances. |
| format | Article |
| id | doaj-art-a204fdfe3eb741adbe3015a076a6374b |
| institution | Kabale University |
| issn | 1687-5257 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-a204fdfe3eb741adbe3015a076a6374b2025-08-20T03:38:35ZengWileyJournal of Control Science and Engineering1687-52572022-01-01202210.1155/2022/2271804Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode SurfaceHanqing Sun0Shijie Zhang1Qingle Quan2Zheng Liu3Guizhi Wang4Weimin Lian5College of Information EngineeringCollege of Electrical EngineeringCollege of Information EngineeringCollege of Information EngineeringCollege of Information EngineeringCollege of Information EngineeringIn order to make the manipulator track the desired trajectory in a finite time, a new control method based on fast nonsingular terminal sliding mode has been designed. This method combines the traditional fast terminal sliding mode with the nonsingular terminal sliding mode, has rapidity, nonsingularity, finite-time convergence, and strong robustness, and can effectively suppress the inherent chattering phenomenon of the sliding mode controller. The nonsingular fast terminal sliding mode surface is used to accelerate the convergence speed of manipulator trajectory tracking error, and the singularity problem in terminal sliding mode is solved. The finite-time convergence of the algorithm is proved by the Lyapunov function. The simulation results demonstrate that the proposed method can achieve accurate finite-time trajectory tracking characteristics and has robustness against external disturbances.http://dx.doi.org/10.1155/2022/2271804 |
| spellingShingle | Hanqing Sun Shijie Zhang Qingle Quan Zheng Liu Guizhi Wang Weimin Lian Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface Journal of Control Science and Engineering |
| title | Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface |
| title_full | Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface |
| title_fullStr | Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface |
| title_full_unstemmed | Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface |
| title_short | Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface |
| title_sort | trajectory tracking robust control method based on finite time convergence of manipulator with nonsingular fast terminal sliding mode surface |
| url | http://dx.doi.org/10.1155/2022/2271804 |
| work_keys_str_mv | AT hanqingsun trajectorytrackingrobustcontrolmethodbasedonfinitetimeconvergenceofmanipulatorwithnonsingularfastterminalslidingmodesurface AT shijiezhang trajectorytrackingrobustcontrolmethodbasedonfinitetimeconvergenceofmanipulatorwithnonsingularfastterminalslidingmodesurface AT qinglequan trajectorytrackingrobustcontrolmethodbasedonfinitetimeconvergenceofmanipulatorwithnonsingularfastterminalslidingmodesurface AT zhengliu trajectorytrackingrobustcontrolmethodbasedonfinitetimeconvergenceofmanipulatorwithnonsingularfastterminalslidingmodesurface AT guizhiwang trajectorytrackingrobustcontrolmethodbasedonfinitetimeconvergenceofmanipulatorwithnonsingularfastterminalslidingmodesurface AT weiminlian trajectorytrackingrobustcontrolmethodbasedonfinitetimeconvergenceofmanipulatorwithnonsingularfastterminalslidingmodesurface |