Adaptive nonsingular terminal sliding mode control of robot manipulator based on contour error compensation
To achieve accurate contour tracking of robotic manipulators with system uncertainties, external disturbance and actuator faults, a cross-coupling contour adaptive nonsingular terminal sliding mode control (CCCANTSMC) is proposed. A nonsingular terminal sliding mode manifold is developed which elimi...
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Published in | Scientific reports Vol. 13; no. 1; p. 330 |
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Main Authors | , , , |
Format | Journal Article |
Language | English |
Published |
London
Nature Publishing Group UK
06.01.2023
Nature Publishing Group Nature Portfolio |
Subjects | |
Online Access | Get full text |
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Summary: | To achieve accurate contour tracking of robotic manipulators with system uncertainties, external disturbance and actuator faults, a cross-coupling contour adaptive nonsingular terminal sliding mode control (CCCANTSMC) is proposed. A nonsingular terminal sliding mode manifold is developed which eliminates the singularity completely. In order to avoid the demand of the prior knowledge of system uncertainties, external disturbance and actuator faults in practical applications, an adaptive tuning approach is proposed. The stability of the proposed control strategy is demonstrated by the finite-time stability theory. Then, the developed controller combines adaptive nonlinear terminal sliding mode control (ANTSMC) of joint trajectory tracking and proportion–differentiation control of end-effector contour tracking by introducing the coupling factor between multiple axes based on Jacobian. Moreover, a unified framework of cross-coupling contour compensation and reference position pre-compensation is built. Finally, numerical simulation and experimental results validate the effectiveness of the proposed control strategy. |
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Bibliography: | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 23 |
ISSN: | 2045-2322 2045-2322 |
DOI: | 10.1038/s41598-023-27633-0 |