Nonsingular Terminal Sliding-Mode Control For Robotic Manipulator System With Adaptive Uncertainty and Disturbance Rejection

• Published in: Chinese Automation Congress (Online) pp. 7208 - 7213
• Main Authors: Xu, Zhilin, Yang, Xuebo, Hu, Meiling
• Format: Conference Proceeding
• Language: English
• Published: IEEE 17.11.2023
• Subjects: Adaptation models; Adaptive technique; Boundary layer control; Discrete-time system; Fasteners; Heuristic algorithms; Kinematics; Manipulator dynamics; Screw theory; Sliding mode control; Terminal Sliding-mode control; Uncertainty
• ISSN: 2688-0938
• DOI: 10.1109/CAC59555.2023.10450478

This paper investigates the fast adaptive tracking control problem for robotic manipulator system subject to parametric uncertainties and external disturbance. Based on the screw theory, the iterative algorithms for the kinematics and dynamics of composite rigid body have been established. To achieve desired trajectory tracking performance, an nonsingular terminal sliding-mode controller is engineered, where the lumped uncertainties and disturbance are well-rejected through adaptive techniques. Additionally, a boundary layer of sliding-mode manifold is introduced to eliminate the chattering phenomenon generated during switching the controller. At the same time, the influence of actual control frequency on the consequently discretized proposed controller is carefully discussed. Experimented on the Webots platform, simulations conducted on a 6-DoF open chain robotic manipulator, GLUON-2L6-4L3, verify the capability of the designed control strategy.