A Novel Non-Singular Terminal Sliding Mode Trajectory Tracking Control for Robotic Manipulators

This brief investigates the trajectory tracking problem of n-link robotic manipulators with internal uncertainties and external disturbances. At first, a novel non-singular terminal sliding mode surface is proposed which contains arctan function (ATNTSM). Then, a robust ATNTSM control law is designe...

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Bibliographic Details
Published inIEEE transactions on circuits and systems. II, Express briefs Vol. 68; no. 1; pp. 391 - 395
Main Authors Zhai, Junyong, Xu, Gui
Format Journal Article
LanguageEnglish
Published New York IEEE 01.01.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Circuits and systems
Control theory
Convergence
finite time control
Manipulators
non-singular terminal sliding mode
Robot arms
Robot control
Robotic manipulators
Robotics
Robust control
Service robots
Sliding mode control
Tracking control
Tracking problem
Trajectory control
Trajectory tracking
Uncertainty
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Summary:This brief investigates the trajectory tracking problem of n-link robotic manipulators with internal uncertainties and external disturbances. At first, a novel non-singular terminal sliding mode surface is proposed which contains arctan function (ATNTSM). Then, a robust ATNTSM control law is designed to ensure that the system states globally converges to origin in finite time. Moreover, the sign function is replaced by saturation function in the control law, thus the actual control law becomes continuous and the chattering phenomenon can be completely eliminated. In the end, a two-link robotic manipulators as an example is provided to illustrate the effectiveness of the proposed scheme.
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ISSN:1549-7747
1558-3791
DOI:10.1109/TCSII.2020.2999937