Sliding mode control for trajectory tracking of robotic manipulator based on input saturation
To address the issues of complex disturbance and input saturation that affect the trajectory tracking accuracy of the robotic manipulator, an adaptive integrated sliding mode control technique based on input saturation compensation was proposed. Firstly, an auxiliary function was designed based on t...
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| Language: | zho |
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Editorial Office of Journal of XPU
2024-04-01
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| Series: | Xi'an Gongcheng Daxue xuebao |
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| Online Access: | http://journal.xpu.edu.cn/en/#/digest?ArticleID=1452 |
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| _version_ | 1850271825071702016 |
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| author | ZHANG Lei SONG Boxiong TIAN Dongyu |
| author_facet | ZHANG Lei SONG Boxiong TIAN Dongyu |
| author_sort | ZHANG Lei |
| collection | DOAJ |
| description | To address the issues of complex disturbance and input saturation that affect the trajectory tracking accuracy of the robotic manipulator, an adaptive integrated sliding mode control technique based on input saturation compensation was proposed. Firstly, an auxiliary function was designed based on the adaptive control method to get rid of the input saturation trait. Secondly, the trajectory tracking control law was designed by the estimated upper limit of complex disturbance and the non-singular integral terminal sliding mode control method, which made the tracking error converge to the zero neighborhood quickly and weakened chattering. The Lyapunov stability theorem was used to demonstrate that the algorithm could ensure the finite-time convergence of trajectory tracking error. Finally, the effectiveness of the adaptive non-singular fast terminal sliding mode control method was verified by comparing with the existing control methods through simulation and experimentation. The results show that each joint of the manipulator can track the desired trajectory within 0.5 s and 0.8 s in simulation and experiment, respectively, and the tracking error can be reduced to 1.2×10-3 rad and 8.7×10-3 rad, which can effectively solve the input saturation problem of the manipulator and lessen the influence of complex disturbance on the control accuracy of the system trajectory tracking. |
| format | Article |
| id | doaj-art-deaf5d417c0c47408f28e60a5c435e36 |
| institution | OA Journals |
| issn | 1674-649X |
| language | zho |
| publishDate | 2024-04-01 |
| publisher | Editorial Office of Journal of XPU |
| record_format | Article |
| series | Xi'an Gongcheng Daxue xuebao |
| spelling | doaj-art-deaf5d417c0c47408f28e60a5c435e362025-08-20T01:52:06ZzhoEditorial Office of Journal of XPUXi'an Gongcheng Daxue xuebao1674-649X2024-04-01382859210.13338/j.issn.1674-649x.2024.02.011Sliding mode control for trajectory tracking of robotic manipulator based on input saturationZHANG Lei0SONG Boxiong1TIAN Dongyu2School of Electronics and Information, Xi’an Polytechnic University, Xi’an 710048, ChinaSchool of Electronics and Information, Xi’an Polytechnic University, Xi’an 710048, ChinaSchool of Electronics and Information, Xi’an Polytechnic University, Xi’an 710048, ChinaTo address the issues of complex disturbance and input saturation that affect the trajectory tracking accuracy of the robotic manipulator, an adaptive integrated sliding mode control technique based on input saturation compensation was proposed. Firstly, an auxiliary function was designed based on the adaptive control method to get rid of the input saturation trait. Secondly, the trajectory tracking control law was designed by the estimated upper limit of complex disturbance and the non-singular integral terminal sliding mode control method, which made the tracking error converge to the zero neighborhood quickly and weakened chattering. The Lyapunov stability theorem was used to demonstrate that the algorithm could ensure the finite-time convergence of trajectory tracking error. Finally, the effectiveness of the adaptive non-singular fast terminal sliding mode control method was verified by comparing with the existing control methods through simulation and experimentation. The results show that each joint of the manipulator can track the desired trajectory within 0.5 s and 0.8 s in simulation and experiment, respectively, and the tracking error can be reduced to 1.2×10-3 rad and 8.7×10-3 rad, which can effectively solve the input saturation problem of the manipulator and lessen the influence of complex disturbance on the control accuracy of the system trajectory tracking.http://journal.xpu.edu.cn/en/#/digest?ArticleID=1452robotic manipulatortrajectory trackingadaptive controlintegral sliding mode controlinput saturation |
| spellingShingle | ZHANG Lei SONG Boxiong TIAN Dongyu Sliding mode control for trajectory tracking of robotic manipulator based on input saturation Xi'an Gongcheng Daxue xuebao robotic manipulator trajectory tracking adaptive control integral sliding mode control input saturation |
| title | Sliding mode control for trajectory tracking of robotic manipulator based on input saturation |
| title_full | Sliding mode control for trajectory tracking of robotic manipulator based on input saturation |
| title_fullStr | Sliding mode control for trajectory tracking of robotic manipulator based on input saturation |
| title_full_unstemmed | Sliding mode control for trajectory tracking of robotic manipulator based on input saturation |
| title_short | Sliding mode control for trajectory tracking of robotic manipulator based on input saturation |
| title_sort | sliding mode control for trajectory tracking of robotic manipulator based on input saturation |
| topic | robotic manipulator trajectory tracking adaptive control integral sliding mode control input saturation |
| url | http://journal.xpu.edu.cn/en/#/digest?ArticleID=1452 |
| work_keys_str_mv | AT zhanglei slidingmodecontrolfortrajectorytrackingofroboticmanipulatorbasedoninputsaturation AT songboxiong slidingmodecontrolfortrajectorytrackingofroboticmanipulatorbasedoninputsaturation AT tiandongyu slidingmodecontrolfortrajectorytrackingofroboticmanipulatorbasedoninputsaturation |